Joel Madden Says Nicole Richie's 'Been the Greatest Partner' over 17-Year-Relationship: 'I Feel Lucky'

Madden and Richie began dating in 2006, married in 2010 and share two children: daughter Harlow and son Sparrow

After nearly 17 years together, Joel Madden and Nicole Richie's relationship remains strong.

The Good Charlotte musician appeared on Tuesday's episode of The Tamron Hall Show and raved about his life with the former Simple Life star and their two children, daughter Harlow and son Sparrow.

"She's beautiful," Madden, 44, told host Tamron Hall about Richie, 42, noting that they'll celebrate "17 years in November." The pair met at a friend’s party in 2006 and began dating later that year, later getting married in 2010. "That's my queen," added the pop punk star.

Related: Nicole Richie and Joel Madden's Relationship Timeline

Hall, 53, asked if Madden has any advice to offer Harlow, 15, and Sparrow, 13, as they grow up, and he offered up some encouragement — crediting Richie for his current perspective.

"You know what, I try to tell my kids to be yourself and to love yourself, because it took me a long time to learn that," said the performer. "Nicole was a big part of that."

Madden then spoke to their lasting relationship, which he's described as a surprise in the past, not expecting their initial meeting in 2006 to turn into a fruitful partnership.

"The only thing I've done longer than 17 years is the band," he told Hall, adding that Nicole has "been the greatest partner and you know, I feel lucky."

Madden continued, "But I think – you know, you're talking about putting yourself out there and I think you can put yourself out there in the wrong way too. So you have to love yourself first and I think you have to put yourself out there in the right way."

Last year, Richie opened up to ET Canada about whether there's a secret to her long marriage ahead of their 12-year anniversary. “I don’t have a secret. We just let each other be ourselves,” she said. “We have fun.”

Related: Cameron Diaz and Benji Madden Go on Double Date with Nicole Richie and Joel Madden

When asked at the time if it was smooth sailing between her and Madden, Richie was candid, saying, “Not all the time,” before joking, “We’re both smooth operators.”

The pair's most recent public outing came last month, when they were seen in Los Angeles attending the launch party for Veeps All Access alongside Joel's brother Benji and his wife, actress Cameron Diaz.

Diaz, 51, and Benji, 44, wore matching black outfits to the event, while Richie wore a colorful gown alongside Joel's all-black getup. Nicole's sister Sofia Richie Grainge was also at the event, and Nicole could be seen snuggling up to Diaz in one picture on the red carpet.

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