Credit: Courtesy of Nicole Richie

Happy Fathers Day!

A video posted by @nicolerichie on Jun 21, 2015 at 6:22pm PDT

Such a cool dad! Nicole Richie offered a peek into her family life with husband Joel Madden and the couple's two kids on Sunday, June 21, and it looks like quite a ball.

The reality star, 33, took to Instagram to share a video of Madden, 36, with daughter Harlow, 7, and son Sparrow, 5, in honor of Father's Day. In the Dubsmash clip, the Good Charlotte singer stands between his two kids in a backyard as music begins to play. 

The rock star mouths the lyrics to "Batman's Song" from The Lego Movie as his little ones begin to headband. With the family dog Iro in the background, the kids flail about while Madden screams, "Darkness! No parents! Continue darkness!" with the same enthusiasm that he shows when performing his band's songs. 

"Happy Fathers Day!" the Simple Life alum wrote simply, acknowledging her love on the special day. 

Richie and Madden welcomed their son and daughter before they tied the knot. The two stars began dating in 2006 and got engaged in early 2010, after the 2008 birth of Harlow and the 2009 birth of Sparrow. With their son and daughter in attendance, the happy pair exchanged vows in December 2010.

"I do know I do the best that I can," Richie told Oprah Winfrey in 2014 of motherhood. "I'm probably constantly—every day—talking to other moms figuring out the best way to have a strong relationship with our kids... I have to always come from a place of love and compassion with them. My kids operate best when I let them have a voice, and I really explain things to them, because really, kids want to be told the truth. They just do. They just want you to be truthful."

PHOTOS: Nicole Richie and Joel Madden

See Madden's sweet moment with Harlow and Sparrow in the video above! Want stories like these delivered straight to your inbox? Sign up now for the Us Weekly newsletter!