October 03, 2011 05:00 PM

Xposure

Talk about a royal welcome!

Nicole Richie, Joel Madden and children Harlow Winter Kate, 3½, and Sparrow James Midnight, 2, attend the Disney Princess Parade on Sunday at Kensington Palace in London.

Over 25,000 fans lined up along the parade route to watch horse-drawn carriages bring the princesses in for the ceremony, where Rapunzel was introduced as the 10th princess.

“Um, I don’t know who enjoyed the princesses more: my daughter, or my husband,” Richie, 30, jokingly Tweeted.

RELATED: Nicole Richie ‘Needs a Nap’ Before More Kids

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