Lionel Richie and his daughter Nicole appeared together on "Larry King Live" on Thursday for their first TV interview in six years, and Nicole's baby girl Harlow joined them on stage.

The father daughter pair discussed everything from past family challenges, to current family success.

"We're at a wonderful [place in] life," Lionel told Larry.

But the pair agreed that things weren't always so rosy. Lionel reminisced to Larry about when Nicole went to rehab several years ago, and he and wife Brenda joined her there: "When she checked into rehab, her mother and I checked into rehab with her." The parents spent the first week or so at the rehabilitation facility with their daughter.

Lionel said he had to employ tough love with his beloved daughter, and he told Larry, "Tough love is very hard when you're in love."

For her part, Nicole told Larry about rehab: "I really don't think about it anymore. Everyone has made mistakes, like I said, and it's really about moving forward and dealing with my mistakes. That's where I'm at."

Nicole also said that while she has no immediate plans to marry boyfriend Joel Madden, who is Harlow's father and with whom she is expecting a second baby, she said they will marry "when the time is right." Nicole told Larry that she and Joel are putting their focus on their family right now.

At the end of the interview, little Harlow joined her mom and grandpa onstage. Nicole told Larry that she and Joel are planning to be surprised when it comes to finding out the sex of their unborn baby, so there is no word on whether their upcoming bundle of joy will be a brother or a sister for Harlow.