The couple’s parents met for the first time on the destination wedding trip and were the only guests

Chicago Fire star Jake Lockett is married!

The actor eloped with actress Dominique Domingo on Wednesday, June 18. The couple’s parents met for the first time that week and dressed in earth tones for the “intimate” ceremony, which took place in a private cove “covered from top to bottom in greenery, trees and flowers” near Kalihiwai Falls, a two-tiered waterfall on the north shore of Kauai, Hawaii.

“The theme was about letting nature take the lead. There was no need for added décor because Mother Nature handled it all,” Domingo tells PEOPLE. “We wanted the vibe to be serene, intimate and peaceful and that’s exactly what it was.”

One of Domingo’s nicknames is actually “Mother Earth” because she is an Earth sign (Taurus), was born on Earth Day and is “really grounded and loves nature.” She feels “the most connected” when she’s outside, so it was a no-brainer to get married on an island.

“There is something special and healing about the energy of the island,” she says. “The smell of the air, being immersed in the lush greenery everywhere you go and, of course, the water.”

Tying the knot in front of the “tall, gushing waterfall” was also meaningful to Lockett, who wrote an unreleased song about his future wife next to a waterfall in Yellowstone National Park three months before he met her in the lobby room of a commercial audition.

“I hiked a mountain to the base of the waterfall and while listening to music, ended up writing a song about the woman I’d someday meet. The one I’d fall in love with,” Lockett tells PEOPLE. “The song was asking her to stay true and be patient for me. So, being able to get married by a waterfall was full circle for me.”

The couple chose to elope with just their parents in attendance, plus videographer Zac Ramos and photographer Ashley Uptain, because they “wanted to keep it simple” and “not overcomplicate a once-in-a-lifetime moment.”

“We both felt like anything bigger than our immediate family wouldn’t allow us to focus on each other as much on our day,” Lockett says. “So, keeping it small and simple was imperative.”

Local musician Anjela Rose sang and played an acoustic guitar during the ceremony. As the parents of the bride and groom arrived, she performed “Let’s Stay Together” by Joesef.

Lockett made his way down the aisle to the tune of “Born to Love” by Ray LaMontagne featuring Sierra Ferrell. He wore a bespoke Irish linen suit by KERCHER with Hawaiian floral lining and the wedding date embroidered underneath his collar.

Sabrina Claudio’s “Frozen” played for Domingo, who wore the first wedding dress she had ever tried on. Her “sexy yet sophisticated” gown was designed by Maggie Sottero and altered by Soheila Zare. Her hair was styled by Cassidy Elise and makeup done by Marissa Vossen.

Water and earth elements were included in the ceremony “to represent purifying and unifying.”

“We used water from the ocean, held it in a bowl together as our families connected to us through physical touch, a hand on the shoulder. [They] intentionally sent their loving energy and protection to the water,” Domingo explains. “Then our officiant used a Hawaiian ti leaf to dip into the bowl of blessed water and cleansed the space between and around us before beginning the ceremony.”

For the Earth element, two vessels of sand were used. The first vessel of sand was collected from the same beach in Mexico where Lockett proposed. Lockett popped the question on a beach at sunrise in Riviera Maya on Jan. 30. The second vessel of sand was collected from a beach in Kauai.

“We took a moment in silence the day before the ceremony where we each held our separate vessels and felt into what we wanted to give to our union as individuals and we directed that energy into the sand,” Domingo says. “At the end of the ceremony, we poured each of our vessels of sand into one bottle, combining the two into one.”

The officiant, Moe Alaiafune, also incorporated traditional Hawaiian and Polynesian elements into the ceremony.

“For example, there was the Honi ceremony, which is the sharing of one’s life essence and a Polynesian blessing in the Hawaiian language,” Lockett notes.

Lockett and Domingo exchanged handwritten vows, and rings from Ren Private Jewelers. After they were pronounced husband and wife, they walked back down the aisle together as “Best Part” by Daniel Caesar, featuring H.E.R., played.

Domingo points out that a group of her girlfriends put together a congratulatory video message compilation for her and Lockett, and “without them even knowing what songs were going to be played during the ceremony” they selected “Best Part” as the background music. “That made me emotional,” she shares.

The wedding was planned by Jessica Frabotta and Hailey Zietz with Kauai Elopements.

After the ceremony, the newlyweds and their parents went to Bar Acuda in Hanalei Bay for dinner. Domingo changed into a simple white slip dress from Zara for dinner.

A few days before and after the wedding were allotted for family quality time. A large house for the group of six was rented for the duration of the nuptials so that the two families could better get to know each other.

“Our families had never met, so making sure we had time to commune together was important to us,” Lockett says. “Cooking meals together, sitting and watching our favorite funny movies together, hanging in the water and learning about each other, all those things helped to make the family aspect that much more special.”

Lockett and Domingo are excited to do “day-to-day life together” and “see what [their] love creates.”

“With Dominique, I’ve always felt like I am supported in being the best man I can be and that is a feeling I have always wanted in a partner,” Lockett shares. “She is my dream, all the parts that I knew I wanted and some that I had no idea but am so grateful to have in a partner.”

In addition to Lockett’s “passion and dedication,” Domingo admires the actor’s heart.

“I’ve never felt more seen, protected and held by a person than I do by Jake,” she says. “I used to be afraid that no partner would ever be able to hold me the way I can hold myself. And maybe no one is supposed to be able to. But Jake comes really damn close. I love how much fun we have together … We laugh together constantly and it’s one of my favorite things about us. But my most favorite thing is we do not withhold love, ever.”