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and Eddie Cibrian
enjoyed dinner at Katsuya Glendale on Saturday night in Los Angeles.
Rimes – who wore a tight white dress and Louis Vuitton high heels – had a drink at the bar while waiting for Cibrian and his children, Mason and Jake.
Once they arrived, Rimes ordered some signature items and a mixed green salad, while the children opted for kids' meals.
"They seemed to be having a great time," an onlooker tells PEOPLE. "Eddie and LeAnn talked a lot while the kids played together."
The family – who declined an invitation to dine in a private room – stayed for about two hours.
– Jennifer Garcia