The duo met as actor and producer on the set of the 2003 thriller Gothika, and just a few months later they were in love and engaged. Their relationship has only blossomed as they’ve continued supporting and adoring each other. They’ve collaborated on more than just movies, too: Susan and Robert have grown a family and built a home (literally – in 2021, they finished constructing their futuristic Malibu abode).

See some of the sweetest snaps taken over the course of the couple’s 20-year love story.

01of 12Early DaysSusan Levin, Robert Downey Jr. SGRANITZ/WIREIMAGE

Susan Levin met her future husband on the set of her 2003 production, Gothika. It was her first film as a full-credit producer and starred Robert Downey Jr. and Halle Berry.

More than a decade later, the film producer spoke to The Hollywood Reporter about her early hesitance when it came to dating the film’s star. Looking back, she says Robert came off as “interesting but weird.”

02of 12First of Many DatesRobert Downey Jr., fiancee Susan Levin. ARNALDO MAGNANI/GETTY

Eventually, of course, the initial wariness wore off and the two haven’t left each other’s sides since. They made their relationship red-carpet official at the premiere of Robert’s musical crime comedy The Singing Detective in October 2003.

03of 12Putting a Ring on ItRobert Downey Jr., Susan Levin.

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By the time Gothika premiered in November 2003, Robert and Susan were engaged. Speaking on The Oprah Winfrey Show in 2004, the Iron Man star and his longtime love shared the details of their whirlwind engagement, including the way he gifted her the ring and said, “I was wondering if, maybe, you’d wanna, like, be my wife one day.”

04of 12Making It LastSusan Levin & Robert Downey Jr.

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Susan said yes to marriage after only a few months of dating, but she did insist on a longer engagement.

05of 12Dressing as a DuoRobert Downey Jr., Susan Levin.

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In the meantime, the fiancés continued letting their love grow. And judging by their complementary style statements, they appeared to become even more compatible in the meantime. At the 2004 NBA All-Star Game, they both sported zip-up sweatshirts together (and matching smirks).

06of 12More MatchingRobert Downey Jr., Susan Downey.

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As the years went on, they managed to coordinate colors and accessories.

07of 12Knot TiedRobert Downey Jr., Susan Levin. WIREIMAGE HOUSE/WIREIMAGE

Robert and Susan got married in August of 2005. They walked down the aisle in a ceremony on Long Island, New York, with attendees including Keanu Reeves and Sting.

Nine years later, the still-strong couple revealed some of their secrets to a happy marriage in conversation with PEOPLE. Susan emphasized the importance of “me” time: “You always have to give each other space and kind of read it,” she said.

Her actor husband, on the other hand, joked that it was really all about his good hygiene. “I am so clean you could eat off of me,” he teased. “I think women appreciate that.”

08of 12That Newlywed GlowRobert Downey Jr., Susan Levin.

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All jokes aside, Robert said the key to keeping their love afloat wasn’t always easy, but was no doubt worth it.

“There is always that thing of love and respect,” he told PEOPLE at the 2014 premiere of his film The Judge, which Susan produced. He continued, “It is work, but it’s just so nice.”