  Long term precise radial velocity (RV) monitoring of the nearby star
HD206893, as well as anomalies in the system proper motion, have suggested the
presence of an additional, inner companion in the system. Here we describe the
results of a multi-epoch search for the companion responsible for this RV drift
and proper motion anomaly using the VLTI/GRAVITY instrument. Utilizing
information from ongoing precision RV measurements with the HARPS spectrograph,
as well as Gaia host star astrometry, we report a high significance detection
of the companion HD206893c over three epochs, with clear evidence for Keplerian
orbital motion. Our astrometry with $\sim$50-100 $\mu$arcsec precision afforded
by GRAVITY allows us to derive a dynamical mass of 12.7$^{+1.2}_{-1.0}$ M$_{\rm
Jup}$ and an orbital separation of 3.53$^{+0.08}_{-0.06}$ au for HD206893c. Our
fits to the orbits of both companions in the system utilize both Gaia
astrometry and RVs to also provide a precise dynamical estimate of the
previously uncertain mass of the B component, and therefore derive an age of
$155\pm15$ Myr. We find that theoretical atmospheric/evolutionary models
incorporating deuterium burning for HD206893c, parameterized by cloudy
atmospheres provide a good simultaneous fit to the luminosity of both HD206893B
and c. In addition to utilizing long-term RV information, this effort is an
early example of a direct imaging discovery of a bona fide exoplanet that was
guided in part with Gaia astrometry. Utilizing Gaia astrometry is expected to
be one of the primary techniques going forward to identify and characterize
additional directly imaged planets. Lastly, this discovery is another example
of the power of optical interferometry to directly detect and characterize
extrasolar planets where they form at ice-line orbital separations of 2-4\,au.
