Proving that the parent Hamiltonian of a Projected Entangled Pair State (PEPS) is gapped remains an important open problem. We take a step forward in solving this problem by showing that if the boundary state of any rectangular subregion is a quasi-local Gibbs state of the virtual indices, then the parent Hamiltonian of the bulk 2D PEPS has a constant gap in the thermodynamic limit. The proof employs the martingale method of nearly commuting projectors, and exploits a result of Araki on the robustness of one dimensional Gibbs states. Our result provides one of the first rigorous connections between boundary theories and dynamical properties in an interacting many body system. We show that the proof can be extended to MPO-injective PEPS, and speculate that the assumption on the locality of the boundary Hamiltonian follows from exponential decay of correlations in the bulk.