They are currently Down Under to support their father while he films his TV talent show.
And while Good Charlotte rocker Joel Madden was hard at work, Nicole Richie took their children out and about in Sydney.
The trio were seen in New South Wales, Australia on Wednesday, stocking up on warm drinks for the road.
Warming up: Nicole Richie, Harlow, Sparrow Madden were seen in Sydney, Australia on Wednesday
Nicole, 31, could be seen covered up in a large black sweater and baggy trousers to match, wearing espadrilles on her feet and a beanie hat to keep her head cosy.
The Fashion Star mentor covered her eyes with aviator sunglasses as she visited a coffee shop with her daughter Sparrow, five, and son Harlow, three.
The group appeared to be in their pyjamas with her girl donning a matching pink leopard print set and her boy sporting a martial arts monkey on his top.
Not so Fashion Star! Nicole dresses in a large jumper and jogging bottoms with espadrilles on her feet and a beanie hat
Nicole and Joel’s adorable youngsters were evidently eager for a hot beverage to fill their bellies as they craned their necks over the counter inside the café to watch it being prepared.
The family flew in to the country this week so Joel could get started on panellist duties for The Voice.
The programme also stars Ricky Martin, Seal and Delta Goodrem as judges of the singing contestants.
In action: The youngsters watched and learned how being a barista was done
Relaxed style: The kids appeared to be in their pyjamas for the outing
Ricky took over country singer Keith Urban’s seat after her moved on to American Idol with the likes of Nicki Minaj, Mariah Carey and Randy Jackson.
Nicole’s own NBC show premiered on March 8 for a second season with Jessica Simpson and John Varvatos as fellow experts.
British presenter Louise Roe replaced supermodel Elle McPherson as the host of Fashion Star.
Down Under: Nicole and Joel's adorable children are in Australia to support their dad who is a judge on the country's The Voice