The couple spent the morning with their two children, Harlow and Sparrow, in Pasadena, Calif., where they stopped at the Cheesecake Factory for lunch.
On their way into the restaurant, Madden spoke to his "adorable" children about the importance of safety while crossing the street.
"He was telling them to be careful and it was really cute," an onlooker tells PEOPLE.
The source adds, "Nicole and Joel looked really good and it just seemed like a normal family outing."
– Melody Chiu
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