Grace Hightower De Niro and Robert De Niro
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Robert De Niro and his wife
, Grace Hightower De Niro, have welcomed a daughter, his rep tells PEOPLE.
Helen Grace, born via surrogate, weighed in at 7 lbs., 2 oz.
She is the second child for the couple
, who first met back in 1987 in London and are already parents to son Elliot, 13.
The Academy Award winning actor, 68, also has four other children: daughter Drena, 40, and son Raphael
, 35, with former wife Diahnne Abbott, as well as 16-year-old twin sons Julian and Aaron, born via surrogate with ex-girlfriend Toukie Smith.