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ULSTER COUNTY, N.Y. -- A brand new dad is being hailed a hero after delivering his daughter on Route 17 this past Saturday morning.

Police say they received a 911 call from Brian Zelinsky, telling officers his wife was about to have a baby near Exit 115 and there was no time to get to the hospital, as they were still about 15 to 20 minutes away.

Two state troopers quickly arrived at the scene and once they realized the hospital was not an option, Zelinsky said he was going to deliver the baby himself.

The troopers stood by with flashlights and kept Zelinsky calm as he delivered his daughter, with no EMS on scene and a partial lane closed down.

Zelinsky and his wife, Jackie, both say it was an experience they will never forget.

"It couldn't have happened any other way. It was great. I'm happy it happened that way, actually. I feel like we have a different bond," Brian Zelinsky said.

"I feel good. I feel great. I actually feel like that was a very good bonding experience. It was something that my husband and I will have a memory of forever and it was a true team effort on our part," said Jackie Zelinsky.

Charlotte Abigail Zelinsky was born around 2 a.m. at 7 pounds, 7 ounces. She and Jackie were later taken to Orange Regional Medical Center, which was their original destination. Both are healthy and now back at home.