Abstract We present the spectroscopic confirmation and precise mass measurement of the warm giant planet TOI-199 b. This planet was first identified in TESS photometry and confirmed using ground-based photometry from ASTEP in Antarctica including a full 6.5 hr long transit, PEST, Hazelwood, and LCO; space photometry from NEOSSat; and radial velocities (RVs) from FEROS, HARPS, CORALIE, and CHIRON. Orbiting a late G-type star, TOI-199 b has a 104.854 − 0.002 + 0.001 day period, a mass of 0.17 ± 0.02 M _J, and a radius of 0.810 ± 0.005 R _J. It is the first warm exo-Saturn with a precisely determined mass and radius. The TESS and ASTEP transits show strong transit timing variations (TTVs), pointing to the existence of a second planet in the system. The joint analysis of the RVs and TTVs provides a unique solution for the nontransiting companion TOI-199 c, which has a period of 273.69 − 0.22 + 0.26 days and an estimated mass of 0.28 − 0.01 + 0.02 M J . This period places it within the conservative habitable zone.