Inside 'Bachelorette' JoJo Fletcher and Jordan Rodgers' Double Date With Ben Higgins and Lauren Bushnell

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No awkwardness here.

star JoJo Fletcher and her new fiance, Jordan Rodgers, had lunch with her ex -- Bachelor star Ben Higgins and his fiancee, Lauren Bushnell -- on Thursday at Katsuya restaurant in Hollywood, California. Part of the double date was filmed for Ben and Lauren's new Freeform TV show, Ben and Lauren: Happily Ever After, an eyewitness at the popular sushi restaurant tells ET.

JoJo and Lauren were comparing engagement rings over rounds of mimosas, the eyewitness notes, adding that the couples were also toasting JoJo and Jordan's upcoming move to Dallas.

WATCH: JoJo Fletcher and Jordan Rodgers Snapchat Their Adorably Normal Post-'Bachelorette' Life Together

According to the eyewitness, the talk got serious at one point, with Ben saying how "happy" he was that JoJo found love after he chose Lauren over her in the Bachelor season 20 finale.

"He said it was crazy that seven months ago he was ending a relationship with JoJo, and was genuinely concerned about her and that he is so happy that she found in Jordan what he has with Lauren," the eyewitness says. "JoJo kept saying over and over, 'It's so hard to explain the process of what we have gone through to find love.'"

Ben and Lauren were also very friendly with fans at the restaurant, posing for pictures and telling well-wishers that "everything is great, and that they were really happy," the eyewitness adds.

ET caught up with Lauren on Tuesday at her blog launch in Los Angeles, where the 25-year-old flight attendant told us she and JoJo are still really good friends.

"It is really cool to have that relationship, and everyone thinks it's weird," she acknowledged to ET's Lauren Zima. "But to me, it's not, because at a lot of points in this journey, you don't have a lot of support from people that know exactly what you're going through, and there's so many times where JoJo and myself -- we know exactly what the other's going through."

Meanwhile, ET was also with JoJo and Jordan in New York City on Tuesday after the Bachelorette season 12 finale, when 27-year-old Jordan said he was looking forward to chatting with Ben face-to-face after briefly interacting during the "After the Final Rose" special.

"I look forward to meeting him actually, instead of across the stage, at some point," Jordan told ET's Jennifer Peros. "But he's been there. They [Ben and Lauren] both have been through kinda what we're about to go through. So, it's good advice. They're still in love. They've gotten through it -- through the worst of it, at least. So, any advice is welcomed."

WATCH: EXCLUSIVE -- Inside Ben Higgins & Lauren Bushnell's Life in Denver and Why They'll Be a 'Bachelor' Couple That Makes It

JoJo, 25, also acknowledged that she now understands Ben's position during his season -- when he controversially said "I love you" to both JoJo and Lauren -- given her own heartache choosing Jordan over runner-up Robby Hayes.

"Saying goodbye to Robby was horrible," she said. "It was so sad, so hard. He's a great man. And I think it just came out, you know, 'I did love you.' ... I also wanted to make sure he got that closure and knew that my heart was with Jordan. So, I didn't plan that out. But it is crazy! I totally get where Ben's coming from. Makes a lot of sense now."

Watch the video below to hear JoJo and Jordan admit to sneaking around in Los Angeles before the Bachelorette finale on Monday, which included Jordan having to put on a bit of a disguise to visit JoJo at her hotel room!