David Hasselhoff and ex-wife Pamela Bach have agreed on post-divorce terms that include joint custody of their teenage daughters, Hasselhoff's attorney confirmed Tuesday.

The former "Baywatch" star and Bach were divorced in August 2006 after more than 16 years of marriage. After months of negotiating custody and financial arrangements, a deal was struck Friday, according to attorney Melvin S. Goldsman.

"I'm pleased that everything has been resolved and I'm proud of my kids, who remain strong and have exhibited dignity during this very difficult time," Hasselhoff said in a statement released by his publicist. "We are all moving on."

Goldsman declined to spell out the terms of the settlement concerning Bach's request for more spousal and child support.

Improving relations between Hasselhoff, 55, and Bach, 44, led to the revised custody arrangements and his willingness to let her to stay in their San Fernando Valley home until it is sold, Goldsman said.

Under a June court order, Hasselhoff had sole custody of the couple's daughters, Taylor, 17, and Hayley, 15.

Lawyers for Bach weren't immediately available for comment, and a message left with her publicist Tuesday was not immediately returned.