Nicole Richie and her rocker boyfriend Joel Madden are the parents of baby girl Harlow Winter Kate Madden.

The baby was born friday at Cedars-Sinai Medical Center and weighed 6 lbs.

"The beautiful healthy baby girl left the hospital with her ecstatic parents," says the rep, who confirmed the birth to PEOPLE exclusively.

The couple have yet to set a wedding date, but in September Madden said that "marriage is in our future" – he just wasn't sure when. "Right now our priority is our family and is the baby," he said. "That's all we've been thinking about. We are in love and are really happy."

via people.com