Miles took to Instagram on Saturday to inform followers that she and her husband welcomed Hope Elizabeth into the world.
It was two years ago that the 4-year-old daughter of the Tony Award-winning actress was struck and killed by a car in Brooklyn.
Miles was 7-months pregnant at the time of the incident and also lost her unborn child.
Miles' friend's 1-year-old son, Josh Lew, was also killed.
Officials said the driver allegedly suffered a medical condition, lost control of the car and sped through a crowded crosswalk.
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