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'Concert with Mom and Dad': Charlie Sheen & Denise Richards Enjoy a Musical Night Out with Their Girls

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Denise Richards/Instagram

Charlie Sheen and Denise Richards may be A-list celebrities, but they are just normal parents in the eyes of their children.

On Wednesday evening, the exes took their daughters out for a night at a Twenty One Pilots concert.

“Me & the Charles taking the kids to #21pilots,” Richards, 45, captioned an Instagram photo of herself and Sheen, 51, in the front seat of the car with the kids in the back on the way to the venue.

Me & the Charles taking the kids to #21pilots

A post shared by Denise Richards (@deniserichards) on

But during the concert, Richards was convinced that their children did what most adolescents have done in social settings when their parents are present: ignore them.

“Charles I think the kids walked by pretending they don’t know us. #concertwithmomanddad #twentyonepilots,” she jokingly wrote alongside a photo of herself puckered up next to Sheen, both donning matching red beanies.

Charles I think the kids walked by pretending they don't know us. #concertwithmomanddad #twentyonepilots

A post shared by Denise Richards (@deniserichards) on

The former Two and a Half Men star also took to social media to document the night out with his ex-wife and kids: “silly hats aside; our girls, and their besties, (the G and the R) reminded us, how badly REAL MUSIC must befall us, at once!! x ©.”

Richards filed for divorce from Sheen in 2005 after nearly three years of marriage and share two children with the actor: daughters Lola 11, and Sam, 12. Their split was declared legally official in 2006.

The two have experienced their ups and downs throughout the years, and in January 2016 — just two months after Sheen went public with his HIV diagnosis — Richards filed a $1.2 million lawsuit against her ex-husband for allegedly not providing all of the financial support he had promised toward the care of their children. (At the time, a source confirmed to PEOPLE that Richards had known Sheen was HIV-positive for a number of years and that he was infected after their split.)

But in January, the former couple got together with their kids — including Richards’ youngest daughter, Eloise, 5½ — for a family dinner.

“We’ve had a colorful year,” Richards captioned the post. “At the end of the day we’re still a family … @charliesheen #familydinner.”