Arnold Schwarzenegger and Longtime Girlfriend Heather Milligan Step Out in London

“We have so many things in common. I think the world of her," Arnold Schwarzenegger recently told PEOPLE of his longtime girlfriend Heather Milligan

Arnold Schwarzenegger and Heather Milligan are looking stylish in London!

On Tuesday, Schwarzenegger, 76, and his longtime girlfriend Milligan, 48, were seen leaving London's private members' club Annabels together. The couple matched with black tops; Schwarzenegger could be seen wearing a dark suit jacket and jeans, while Milligan wore an all-black outfit that featured a jacket with a sparkly silver lining.

Schwarzenegger is in London for a pair of appearances Tuesday and Wednesday at the London Palladium, where he is hosting talks centered around his new self-help book Be Useful: Seven Tools for Life, per the book's publisher Penguin Random House.

Schwarzenegger and Milligan were first linked romantically in 2013, two years after the action star-turned-politician split from his ex-wife Maria Shriver. The Terminator actor recently told PEOPLE that he and Milligan, a physical therapist, first met in 2012 after his shoulder surgery while he prepared to film 2013’s Escape Plan with Sylvester Stallone.

Related: Who Is Arnold Schwarzenegger's Girlfriend? All About Heather Milligan

"I said, 'I got to go do this movie, and I bring a lot of punches and I have fights with Sly and I want to have my act together,' " Schwarzenegger recalled of asking his surgeon for a physical therapist recommendation .

"And so he says, 'There's only one (person), it's Heather — any athlete, I always send them to her, because she's the only one that really knows what they’re talking about.' So I went to her, and then after my therapy was finished, after I was finished with the movie, I called her back and took her out for lunch to say thank you. And then one thing led to the next.”

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Milligan owns the Los Angeles-based physical therapy clinic Elite OrthoSport and holds a degree in physical therapy and a Masters in Business Administration from the University of Nevada Las Vegas. According to her biography on her clinic's website, Milligan "currently maintains three highly regarded certifications, placing her in an elite class of physical therapists in the country."

Related: Arnold Schwarzenegger Opens Up About Life, Family and Work Now: 'I Feel Good Where I Am' (Exclusive)

She and Schwarzenegger both share athletic backgrounds — Elite OrthoSport's website also says she was a competitive gymnast for 20 years before embarking on her career in physical therapy.

“We have so many things in common,” Schwarzenegger told PEOPLE of Milligan in September. “I think the world of her. I love that she’s into working. She’s clearly independent. She just is driven as hell.”

Outside Schwarzenegger's relationship with Milligan, he shares four children with his ex Shriver, 67: Katherine, 33, Christina, 32, Patrick, 30, and Christopher, 26. He also shares son Joseph Baena, 26, with Mildred Patricia Baena.

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