'The Bachelorette' 's Kaitlyn Bristowe and Shawn Booth Are Engaged! See the Happy Couple on the Cover of PEOPLE

Did the reality star choose Shawn Booth or Nick Viall?

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Published on July 27, 2015 10:00PM EDT

Kaitlyn Bristowe and Shawn Booth open up about breaking the rules and their plans for a (really big) family. Subscribe now for all the details plus exclusive photos, only in PEOPLE!

It’s been a rocky road on The Bachelorette this season, but Kaitlyn Bristowe has finally found her fairy-tale ending.

“I didn’t think I could be this happy,” Bristowe tells PEOPLE exclusively.

The former dance instructor, 30, got engaged to personal trainer Shawn Booth, 29, on Monday’s finale of The Bachelorette.

“We have such an honest relationship,” Bristowe says. “Every day I think, ‘I picked the right guy.’ ”

Says Booth: “She just makes me feel different, something that I’ve never felt before. It’s what I’ve been looking for.”

And now that the couple can finally go public with their romance, they’re looking forward to some normal dates – no Bachelor ‘copters needed.

“We just want to do anything normal,” Booth says. “Going out to dinner, just hanging out with our family and our friends.”

“And grocery shopping!” Bristowe adds.

Despite the incessant rumors and criticism that threatened to eclipse Bristowe’s search for love, the Canadian says she has no regrets about the process.

“I went through a lot of challenges,” Bristowe admits. “But I found the person that I will be the happiest with, and that is worth it.”

For much more from Kaitlyn and Shawn, including exclusive photos, pick up the new issue of PEOPLE, on stands Friday