BRENTWOOD (KTLA) -- Independence Day comes early for Maria Shriver after she filed divorce papers Friday, ending her 25 year marriage with former Governor Arnold Schwarzenegger.

In papers filed with the Los Angeles Superior Court on Friday, Shriver cited "irreconcilable differences" in her divorce filings and is asking for joint legal and physical custody of their youngest children, Patrick, 17, and Christopher, 13.

DOCUMENT: Read Maria Shriver's divorce petition

They also claimed that Shriver is seeking spousal support and the couple did not have a prenup.

The couple have not been living together in their Brentwood mansion since earlier this year.

Meanwhile, the former housekeeper who had a child with Schwarzenegger is speaking out about her affair.

Mildred Baena told "Hello!" magazine earlier this month that she didn't know Schwarzenegger was the father of her now 13-year-old son until he started to resemble him as a child.

She said she wanted to set the record straight about some of the rumors surrounding her relationship with Schwarzenegger.

Baena revealed that, when she told her son Joseph who his father was, he replied, "Cool."

She also said that Schwarzenegger's wife, Maria Shriver, was among those who noticed her son resembled Arnold.

"Maria would ask if I needed to talk to her, and I kept saying no. Finally, she asked point blank," Baena said in the interview.

"Maria asked me directly if Joseph was Arnold's son, and I just broke down. I dropped to my knees and I was crying, saying that yes he was and I was so sorry."

Baena said Shriver then "cried with me and told me to get off my knees."

She claims she offered to leave right away, but Shriver told her to stay through the holidays.

Baena, 50, got pregnant with the former California governor's child while working as the family's housekeeper.

She pursued Schwarzenegger in the late 90s and told friends she would have unprotected sex with him during the day at the family's mansion, TMZ reports.

Baena and her husband split soon after the boy's birth, according to divorce papers obtained by CNN.

Baena reportedly had a paternity test performed on her son, which confirmed that Schwarzenegger is his father.

Radar Online credited a close friend of Baena's as saying that the test was taken -- and returned positive -- when her son was a toddler.

She also said it was taken with Schwarzenegger's permission.

Shriver was reportedly pregnant with Schwarzenegger's youngest son, Christopher Sargeant, at the same time Baena was pregnant with his child.

Schwarzenegger and Shriver have been married for 25 years. They have four children together between the ages of 13 and 21.