Bristol Palin and Levi Johnston finally reached a custody agreement over their son, Tripp, who is now 7 years old. Palin, the daughter of former Alaska Gov. Sarah Palin, insisted that she didn’t lose any case and that all children deserve two parents.

Tripp was at the center of a legal battle between the previously engaged couple. Johnston had claimed that the Palin family made it difficult to see his son, and they eventually reached an agreement to allow him to see Tripp twice a week in 2010, notes E! News. In 2013, Johnston tried to get equal custody of Tripp.

In a Facebook post that is no longer available publicly, Johnston confirmed on Feb. 23 that he and Palin had reached a settlement. He said it cost him $100,000 in legal fees and he went through three lawyers, but “it was all worth it.”

“I'm so happy to have my son in my life, and to put all of this back in forth in the courts behind me. It might have taken me 7 years and cost me around $100,000 in lawyer fees, spread out among 3 different lawyers, as well as a lot of patience, but it was all worth it,” Johnston wrote. “I'm happy now to be successfully co-parenting.”

Johnston wrote that he has “worked hart to meet his obligations as a father,” and told other fathers that fighting for their children is worth it.

“And I want to say that even though fathers in this country don't usually have the upper hand in court, I encourage every father to never give up on fighting to keep their kids in their life. It’s always worth it,” he wrote.

Palin first responded on Instagram by posting two quotes. The first one read, “The best security blanket a child can have is parents who respect each other. - Jane Blaustone.” The second read, “Always be careful of what you hear about a woman. Rumours either come from a man that can’t have her or a woman who can’t compete with her.”

Later though, she posted a more formal statement, including a picture of herself with Tripp and 2-month-old Sailor Grace Palin, her daughter with Dakota Meyer. “I did not ‘lose’ any custody case - my son has always spent most of his time with me and he will continue to do so, he is happy, healthy, and knows both of his parents love him,” she wrote.

Since his split from Palin, Johnston married Sunny Oglesby and the couple have two young daughters together.