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Ron Baron on 'cheap' market, top stocks and Tesla

Legendary investor Ron Baron, founder and CEO of Baron Capital, an investment firm with $21 billion in assets under management, joined CNBC's "Squawk Box" to share his market outlook and stock strategy.

Baron, who's known for his buy-and-hold approach to investing, believes stocks are still "cheap" today.

"I tie the stock market and the economy together and I think the stock market could grow 6 to 7 percent a year," he said, predicting average historical returns since 1960 are likely to continue.

Other topics include:

  • How investors can beat the market with the right buy-and-hold approach.
  • Favorite stock recommendations for long-term investors, including Tesla and Under Armour.
  • Clues on when investors need to hold conviction on their picks and when to jump ship.
  • His views on the Fed, the current economic cycle and inflation.

The broadcast interview is only available in its entirety here to CNBC Pro subscribers.