When you’ve got good love, you hold on tight. Actress Holly Robinson, 41, and former NFL player Rodney Peete, 44, know this for sure. The couple, who’ve been married for 16 years, have been blessed with four beautiful children, one of whom has autism.

In the beginning, raising a special needs child was so challenging, they almost ended their marriage. Luckily, love (and lots of therapy) saved the day. Today Holly and Rodney have no qualms about talking about the rocky years, though they’d much rather focus on the more beautiful ones.

Take a look at their journey through the years…