Sparrow, Joel Madden, Nicole Richie, Harlow
03/17/2013 at 06:00 PM EDT
It was a family affair for Nicole Richie
and Joel Madden
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