I will present the first kinematical detection of proto-planets embedded in their parental disk. These unique observations open up an entirely new avenue for exploring planetary origins at the time of volatile delivery and across the full radius of the gaseous disk. We have developed a new method to measure exceptionally precise rotation velocity curves from molecular line emission, achieving a precision of ~2m/s. Deviations observed in the gas rotation from a Keplerian profile allow for a direct probe of the radial pressure gradient in the gas, thus providing us with a direct probe of the gas distribution in a protoplanetary disk. We detect these characteristic perturbations in rotation velocity in 12CO, 13CO and C18O emission. By directly measuring the height above the midplane where the emission arises from we are able to isolate perturbations due to the pressure gradient as a function of height and radius in the disk. This allows for unparalleled constraints on the gas surface density profile and thus the presence and mass of embedded planets. Comparisons with hydrodynamic simulations allow us to constrain the planetary masses to a precision of 50%. As this method is sensitive to the pressure gradient, rather than a flux (a relative value vs. an absolute value), our results are robust against uncertainties in the bulk properties of the disk, such as the total gas mass. Furthermore, this method is entirely independent of the radial emission profile and thus the constraints do not require any assumptions on gas-to-dust ratios, grain evolution or chemical abundances, unlike traditional methods. These results will change how we analyze observations of molecular line emission from not only protoplanetary disks but any astrophysical accretion disk.