Jane Seymour found a "miracle" in her future husband, John Zambetti.The happy couple, who recently announced their engagement after dating for three years, was all smiles as they walked the red carpet at the 33rd annual Race to Erase MS benefit in Los Angeles, Calif. earlier this month.Seymour, 75, admitted she was the luckiest girl in the world for finding love with Zambetti, 78, which all came down to perfect timing.JANE SEYMOUR SAYS SAVAGE OSCARS REVIEW COMPARING HAIR TO 'MILDEWED MATTRESS STUFFING' HAUNTS HER DECADES LATERWhile relationships at any age may be a challenge, Zambetti confessed that staying optimistic for love brought him exactly what he needed: his future bride.‘LAW & ORDER’ STAR ANGIE HARMON FINDS LOVE AGAIN WITH MAN SHE FIRST MET 35 YEARS AGO IN ITALY"I think you just have to be out there and be open to it," the Malibooz musician told Fox News Digital. "I mean, just don't be in a shell, just be open to it, because it's all out there.""There's lovely people out there everywhere. I mean this is just kind of a miracle in my opinion."Seymour agreed completely, and said, "In my opinion, too. It's a miracle.""I love him. I cannot believe that I got lucky enough to find the perfect person at this time in my life," she continued. "I was not available before, and he wasn't available before. So, you know, now is it, right now."JANE SEYMOUR, 75, SHARES HOW SHE APPROACHES AGING WITH VITALITY: 'BEST I CAN BE'The "Dr. Quinn, Medicine Woman" actress said they're equally invested in each other's lives outside of their love."He understands that I love what I do. I understand how much he loves what he does," Seymour said. "And we're just equally supportive of one another, and it's great.""I go off and make a movie, he is there with me. I turn around, and he's put out four albums. I'm like, what?"She added, "And then I've become his muse. So, now he's written some amazing songs."Seymour said that she and John "wake up like teenagers" every day together."It's like we're at our parents' house, but our parents never come home," Zambetti said."It's great," she added. "And then the kids come, and then we have to behave."The proposal was equally as romantic as it was somewhat chaotic. Zambetti told People magazine that he proposed the day before Seymour's birthday at their Malibu home.VANNA WHITE MARRIES JOHN DONALDSON IN SECRET CEREMONY AFTER MORE THAN A DECADE TOGETHER"It got to be close to her birthday. It was actually Valentine's Day, the day before her birthday. I thought, 'This is insane. I'm just gonna do it,'" he said."I got down on my knees, the whole thing. I had the ring hidden in the safe, pulled out the ring. I opened the box, and the ring popped out of the box, onto the bed."CLICK HERE TO SIGN UP FOR THE ENTERTAINMENT NEWSLETTERHe added, "Then I had to climb under the bed, and then I couldn't get out, and she had to get out of the bed and pull me out of the bed."Seymour noted that neither of them were "wearing any clothes."WATCH: Jane Seymour admitted fiancé John Zambetti is her "perfect person""Serious bedhead involved," she said. "But the funniest part was that he couldn't get up afterwards. His knee was now stuck from being under the bed and I'm not strong enough to pull him up because he weighs almost twice what I do. We looked at one another and started laughing hysterically."The "Harry Wild" actress has been married four times and has six children.LIKE WHAT YOU’RE READING? CLICK HERE FOR MORE ENTERTAINMENT NEWSShe first married theater director Michael Attenborough in 1971, before the couple split in 1973. Four years later, Seymour married Geoffrey Planer before they ended their relationship in 1978.In 1981, the Bond girl tied the knot with businessman David Flynn. The former couple welcomed daughter Katherine and son Sean before going their separate ways in 1992.Seymour was then married to actor-director James Keach from 1993-2015, and they share twins Kristopher and John. She ended her nine-year relationship with David Green in 2023.Zambetti was previously married for more than four decades and has two children with his late wife, Joan Zambetti.