Tom Pelphrey has found parenthood to be the "most beautiful thing ever".

Tom Pelphrey and Kaley Cuoco love the challenge of parenthood

Tom Pelphrey and Kaley Cuoco love the challenge of parenthood

The 40-year-old actor has revealed that he's loving life with Kaley Cuoco and their daughter Matilda, who was born on March 30.

Speaking about his experience of parenthood, Tom told PEOPLE: "It's amazing. It's heaven, it's challenging at times. It's the most beautiful thing ever."

The 'Ozark' feels "grateful" to be going through the experience with Kaley, 37, by his side.

He said: "I'm so grateful to have a partner who I love to do it with because just two days with a baby in the house and I think of parents who are raising kids by themselves, and I don't even understand how they do it.

"My respect for single parents has gone through the roof."

Tom has been surprised that fatherhood is so "intuitive".

He added: "There's just something about how to hold her and how to burp her and intuiting what she wants sometimes when she's upset.

"That surprises me because I've been around a bunch of babies and I have nieces that I love that I was pretty comfortable with. But for the most part, it was like, 'Oh, don't hand me that baby. I don't want to break it.' And it hasn't felt that way at all with Matilda. So that's been a surprise in a good way."

Meanwhile, Kaley recently insisted that she's determined to approach motherhood in her own way.

The actress - who is best known for playing Penny on 'The Big Bang Theory' - told 'Entertainment Tonight': "Still haven't read a damn thing.

"We find ourselves in a very natural situation. We're just kind of going with the flow. She really tells us what she wants, it's very clear, it's like one of three things."

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