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Mary Shaffer said they decided \"almost right away\" to give the baby up for adoption.

\"I was adopted myself and I knew he would go somewhere decent,” she said.

It was a closed adoption, the couple said, so they didn’t know where the baby would go.

Mary Shaffer penned her baby a letter, she said, explaining \"why we gave him up and just hope that he would have a great life and come look for us someday.\"

She said she kept Yurkovich's baby picture on her dresser, along with her other kids who grew up knowing they had a brother out there somewhere.

\"PHOTO:
ABC News
PHOTO: Mitch Yurkovich from Red Axe, Michigan, applied for a DNA test kit through the website MyHeritage and their DNA Quest program.
>

\"It did kind of feel like we were missing out on something,\" said Mary and Scott’s daughter, Kristen Shaffer. \"We always knew about it.\"

Their other son, Michael Shaffer, expressed how excited he was to finally meet his older brother \"after so many years.\"

\"PHOTO:
ABC News
PHOTO: In July 2018, Mitch Yurkovich received results that lead him to find his birth family.
>

Mary Shaffer said reuniting with her son brought \"closure\" to her family.

Scott Shaffer described it as, “a start to a real happy time, and a closure of missing somebody.”

\"Just seeing them face-to-face, I just stopped,” said Yurkovich. \"I was like, 'Where'd the mirror come from?'\"

Yurkovich added on \"GMA\" this morning, \"It was incredible to me how much you can miss someone you never even met. It's unforgettable.\"

\"PHOTO:
ABC News
PHOTO: Mary and Scott Shaffer are Mitch Yurkovich's biological parents.
>

His birth parents showed him his baby picture on their dresser.

Yurkovich showed his mom the letter she'd written to him 37 years ago, which read in part: \"I hope I can see you when you're older ... Take care and be happy love always.\"

He then told his mom, \"Well, I took care and I'm happy.\"

\"VIDEO:
ABCNews.com
VIDEO: Adopted man reunites with his birth parents 37 years later
>

\"That's all we wanted,” said Mary Shaffer, “all we ever wanted.\"

Yurkovich's adoptive parents told \"GMA\" they are happy he has met with his birth parents, and they hope to meet with them as well some time in the future.

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