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We present the spectroscopic confirmation and precise mass measurement of thewarm giant planet TOI-199 b. This planet was first identified in TESSphotometry and confirmed using ground-based photometry from ASTEP in Antarcticaincluding a full 6.5$\,$h long transit, PEST, Hazelwood, and LCO; spacephotometry from NEOSSat; and radial velocities (RVs) from FEROS, HARPS,CORALIE, and CHIRON. Orbiting a late G-type star, TOI-199\,b has a$\mathrm{104.854_{-0.002}^{+0.001} \, d}$ period, a mass of$\mathrm{0.17\pm0.02 \, M_J}$, and a radius of $\mathrm{0.810\pm0.005 \, R_J}$.It is the first warm exo-Saturn with a precisely determined mass and radius.The TESS and ASTEP transits show strong transit timing variations, pointing tothe existence of a second planet in the system. The joint analysis of the RVsand TTVs provides a unique solution for the non-transiting companion TOI-199 c,which has a period of $\mathrm{273.69_{-0.22}^{+0.26} \, d}$ and an estimatedmass of $\mathrm{0.28_{-0.01}^{+0.02} \, M_J}$. This period places it withinthe conservative Habitable Zone.

TOI-199 b: A well-characterized 100-day transiting warm giant planet with TTVs seen from Antarctica