New Mom Vanessa Minnillo Emerges for First Time Since Son's Birth at Dancing With the Stars Taping

DWTS date night?

New parents Nick and Vanessa Lachey -- who welcomed son Camden September 12 -- sat front row at Monday night's Dancing With the Stars taping, where they cheered on Nick's brother Drew during his dance with partner Anna Trebunskaya.

PHOTOS: Vanessa's maternity style

"Vanessa looked gorgeous," an onlooker tells Us Weekly of the Wipeout host, 31, who wore dark jeans, a black top, a cream blazer and black stilettos. "She was glowing."

Nick and Vanessa sat next to Drew's wife Lea and the couple's daughter, Isabella. "Vanessa talked to Drew's wife a lot," the witness shares.

Before the taping began, an emcee warming up the audience came over to chat with Vanessa and Nick's six-year-old niece.

"He asked her who she was rooting for and she said, 'Drew Lachey.' He asked why, and she said, 'That's my dad!'" the eyewitness says. "The warm-up guy asked what she would have rated him on week one, and she said a 9. He asked what [Drew] would have to do to earn a 10 . . . and she said, 'Work hard!' Vanessa was really cracking up at this and so was Nick."

PHOTOS: Nick and Vanessa's hot bodies

Throughout the taping, "Vanessa and Nick seemed really cozy and were linking arms," the witness adds. "They had their hands on each others' legs."