Caitlyn Jenner shares first-ever swimsuit video: 'Walking on the beach being my authentic self'

Sometimes it takes decades to fulfill a dream.

Caitlyn Jenner finally achieved one of her own on Friday as she hit the beach in a floppy hat and halter one-piece swimsuit -- the first time post-transition that she's publicly worn such an item for the world to see.

"40 years ago, my therapist asked me what my fantasy is," Jenner wrote on Instagram. "I told her walking on the beach being my authentic self and..."

The video says it all: A carefree-looking Jenner strides along the beach, removing her hat and exclaiming with glee.

Countless fans offered their support, with one commenting, "Happiness looks fantastic on you."

It's been a complicated few years -- or, really, a lifetime -- for Jenner, who in 2015 confirmed the transition from Bruce Jenner to Caitlyn. In the two and a half years since, it's been at times unclear how her relationship stands with ex-wife Kris Jenner and stepdaughters Kim, Kourtney and Khloe Kardashian.

Thankfully, all seems to be well between Caitlyn and her biological daughters, Kendall and Kylie Jenner. The three stepped out together in June to celebrate Father's Day. "Happy Father's Day to all the dads out there," Caitlyn wrote alongside a photo with the girls.