The baby, who has yet to be named, weighed 6 lbs., 12 oz., and was delivered by Caesarean.
Kerrigan, 38, and Solomon, 53, are also parents of sons Matthew, 11, and Brian, 3.
"They're very excited," Kerrigan told PEOPLE. "Matthew wanted a girl and Brian wanted a boy, and the two would occasionally argue about it, but they're both looking forward to having a new sibling."
"All went well. Everyone is fine," says the dad, who's been told "there is nothing like the relationship between a dad and a daughter. So it should be fun."
Once home, the new arrival will move into a navy blue nursery, one of four bedrooms in the family's Lynnfield, Mass., home.
Kerrigan, who announced her pregnancy in January, gained only 25 lbs. with this baby, a pound less than she gained with Brian and two pounds more than she put on with Matthew.
As for what to call the little girl, "I think that is the hardest job, to pick a name for somebody," says Kerrigan. "We are not very good at that."
One suggestion: "Brian thinks Pooper would be good."