Alicia gave birth to a baby girl on Saturday at Cedars-Sinai Hospital in Los Angeles. The name of the newborn has not yet been revealed.
The child's arrival is bittersweet for Bobby, since his famous daughter Bobbi Kristina is currently fighting for her life in a Georgia hospice.
Last week, Bobby was spotted in Beverly Hills, where he opened up about finding strength amid Kristina's worsening condition. Watch the video below.
Bobby and Alicia are also loving parents to 5-year-old son Cassius.