But fittingly, there was a special twist – this time around the couple were both doing yoga poses.
"She said 'yes, if you ask me in a yoga pose," wrote Alec Baldwin as he shared the fun photo.
Hilaria – who has kept true to her word of posting a yoga pose a day "every day - regardless of where I am or what I'm wearing" – can be seen clasping her leg above her head in dancer's pose.
Her other hand is held tenderly by Alec, who kneels in front of her on the beach in Montouk, Long Island – the scene for his romantic proposal two years ago.
Hilaria captioned the image: "Celebrating 2 years since getting engaged with open hearts & hip opening yoga postures #hilariaypd #yogapostureoftheday #proposalpose".
Alec forwarded the photo to his Instagram followers and had this to say: "2 years ago today I asked the most important question of my life. She said, "yes, if you ask me in a yoga pose" #hilariaypd @hilariabaldwin #yogapostureoftheday".
Hilaria has described the moment Alec asked for her hand, telling website The Daily front Row: "He brought me to Montauk, out by the lighthouse.
Hilaria and the actor are parents to baby carmen, born in August 2013.
"He’s not great at keeping secrets from me, which is a very good thing. He told me earlier that he was going to propose. We’re very organised.
"He kept asking me if I knew where we were driving. I said, 'No, I’ve never been past Gurney’s Inn!' When we got there he said, 'This is the closest I could get you to Spain'… since my family is still there.
The fact she knew what was coming didn't spoil the moment, however. "He got on his knee, and I burst out crying," she said.
The couple married in New York in 2012 and their baby daughter Carmen – who regularly features in Hilaria's daily yoga poses – was born in August 2013.