Bret Michaels Enjoying Engagement Bliss.....

After nearly 17 years with Kristi GIbson, musician and reality TV star, Bret Michaels already felt like he was part of a family -- without being married.

Happy and fulfilled with his girlfriend and their two daughters, Raine, 10, and Jorja, 5, marriage seemed like another layer that

wasn't necessary, but that has all changed. Michaels finally asked his on-off girlfriend to marry him during the finale of his VH1 reality show, 'Bret Michaels: Life As I Know It.'

"Kristi is perfect for me because she allows me to live and do the things I love to do," Michaels said. "She has her own life away from me and that is great."

He told PEOPLE that he never thought he would marry. "But when Kristi said, 'I don't need this ring, I don't need the piece of paper, I love you no matter what, she took the pressure off," he said.

The rocker said that by using reverse psychology on him, the scenario worked. He proposed on his TV show earlier this month, realizing that Kristi and the kids are what make him the happiest. He dared himself to take the next step.

"We have had a strong friendship with benefits for a long tie, getting engaged for real just felt right," he said.

However, the couple seem to be enjoying their engagement with no immediate plans to marry.

Gibson has said she would like to keep it casual and small. Maybe marry outdoors on a sunny beach, even a remote tropical island with just close friends and family who would help them celebrate with a rocking party.

Michaels, who had a scary brain hemorrhage and small warning stroke earlier this year, will have surgery in January to repair a hole in his heart. No wedding will take place before that is completed.

"I feel great right now and am so happy to be alive," said Michaels, who will ring in the new year at Universal City Walk in Orlando. "I adore Kristi and will see what happens with the relationship."