May 06, 2016 12:00 AM

Mariah Carey and ex-husband Nick Cannon are #CoParentingGoals.

The amicable exes appeared happy with their 5-year-old twins Morocco and Monroe in a new family photo shared on Cannon’s Instagram Thursday.

“A little dinner after Karate Class!!” the America’s Got Talent host captioned the picture for the pre-Mother’s Day gathering.

In December 2014, following six years of marriage, Cannon filed for divorce from Carey, who is now engaged to billionaire James Packer.

Cannon previously told to PEOPLE that his and Carey’s status as friendly exes is “truly” due to their children. As for his secret to co-parenting, the actor responded, “Just staying focused and putting priorities in order.” Adding, “Being able to just step out and control whatever you can control, and the things that you can’t, you just keep it moving.”

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