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

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 in Los Angeles, according to attorney Melvin S. Goldsman.

"David is pleased to have the matter behind him," Goldsman said Monday.