03/01/2010 AT 12:00 PM EST
and Vanessa Minnillo
stepped out to L.A. nightspot Voyeur for a fun evening with pals. The couple sat next to each other for most of the night – and didn't hold back on the cute. When his hand wasn't resting on her leg, Lachey's arms were wrapped around her, while Minnillo smiled and laid her head on his shoulder. The two even sneaked a few kisses, with Minnillo whispering in her beau's ear and making him laugh.