Kate & Lance Have a Beachside Lunch with Goldie Hawn

07/01/2008 at 08:45 PM EDT

Kate & Lance Have a Beachside Lunch with Goldie Hawn
Kate Hudson and Lance Armstrong
Francis Specker/Landov (2)

Kate Hudson

Kate Hudson

Lance Armstrong and Kate Hudson have already spent time with each other's kids. On Tuesday, the couple kept their relationship all in the family by hanging out with her mother.

Casually dressed in a gray Nike T-shirt and matching pants, the cycling champ, along with Hudson and her mom, actress Goldie Hawn, met for a late lunch Tuesday afternoon at Ivy at the Shore in Santa Monica, Calif.

The trio, along with an unidentified male, arrived just before 2 p.m. They got some privacy from fellow diners and the throng of paparazzi camped out front by sitting on the patio at the back of the beachside restaurant.

"They looked like they were having a great time and enjoying each other's company," says an onlooker. "Goldie was all smiles. Lance was sitting next to her and they were chatting while Kate was laughing. They were all just really happy."

A tanned Hudson, wearing a long turquoise halter dress, sat on the other side of her beau during the intimate lunch. At the end of the meal, the group left together through the front entrance.

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