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According to PEOPLE, the oldest child of the late actor - who died in 2014 - had an intimate ceremony surrounded by close friends and family.
I had the great joy of marrying my best friend @oliviajune today! It went awesome and we couldn't have tied the knot on a better day. #WorldMentalHealthDay pic.twitter.com/ANtAW109zg
- Zak Williams (@zakwilliams) October 11, 2020
Taking to Twitter, Zak - a mental health advocate and co-founder of Prepare Your Mind - wrote: "I had the great joy of marrying my best friend @oliviajune today!
"It went awesome and we couldn't have tied the knot on a better day."
He also included the hashtag #WorldMentalHealthDay.
In her own celebratory message, Olivia added: "Married my best friend and love of my life today.
"@zakwilliams you were already stuck with me forever, and now it's legally so."
Zak said both he and Olivia loved the date 10 October and therefore decided to hold a Covid-safe ceremony outdoors.
He told PEOPLE: "In terms of the planning process, it's been challenging, but it's cool to see how safe you can be, while enjoying a festive occasion together."
The pair welcomed their son last May and named him McLaurin 'Mickey' Clement Williams after Robin - whose middle name was McLaurin.
Zak has spoken in the past about his love of being a dad and having his own family.
He said: "I love waking up with my son in the morning, making him breakfast and then having the opportunity to show him things for the first time.
"I'm looking forward to building this life I've always wanted to have and growing together."