The exes were friendly as they appeared together on America's Got Talent red carpet Monday

By Alexia Fernández
May 01, 2017 07:40 PM

Back in step!

Heidi Klum and ex-husband Seal reunited on the set of America’s Got Talent on Sunday. Klum, 43, took to her social media accounts to show off a quick video of the two together on the red carpet outside of AGT‘s stage, with the caption, “Back in step!! Bringing my fave singer to my fave show to guest judge @Seal @nbcagt #SealAtAGT #LookOutAmerica #DontMissIt.”

Seal, 54, appeared alongside his ex-wife in a pastel green jacket, white v-neck T-shirt, black jeans and white boots, while Klum appeared chic in a denim dress and silver high heels.

A source tells PEOPLE it was Klum’s idea to have Seal come on the show as a guest judge and the couple’s children came along.

The model and singer divorced in 2012 after almost seven years of marriage, and are parents to Helen, 12, Henry, 11, Johan, 10, and Lou, 7.