Joel Madden Says He and Wife Nicole Richie Go to 'Therapy' Together: 'We Don't Pretend to Be Perfect'

"I think we're all human," said the Good Charlotte musician, who started dating Richie in 2006 before they tied the knot in 2010

Married life isn't always simple for Joel Madden and Nicole Richie.

In a new interview on Wednesday's episode of The Drew Barrymore Show, the Good Charlotte musician opened up about how him and Richie have worked to make their relationship last.

"I’ve watched Nicole navigate — 17 years now, we've been together," said Madden, 44, who started dating Richie, 42, in 2006 before they tied the knot in 2010.

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

The pair shares two children, daughter Harlow, 15, and son Sparrow, 13, and Madden told host Drew Barrymore they "got lucky" with their family.

"I always tell my kids, ‘You make it so easy to be a dad.’ They’re just good kids," continued the Ink Master star. "They’re great, and I think they’re like their mom."

"We don’t pretend to be perfect either," added Madden. "I think we’re all human."

Related: Nicole Richie and Joel Madden's Relationship Timeline

Madden said he feels "lucky" to have a tight-knit relationship with his twin brother Benji, who married actress Cameron Diaz in 2015. "They have a beautiful relationship," Joel explained, before expressing that he's grateful "to have this growing family of good people that also are imperfect and not trying to present like we have it all figured out."

Barrymore then noted that everybody has to "work on ourselves," suggesting Joel and Richie must do the same. "We go to therapy — lots of therapy," he replied.

Earlier this month, Joel called Richie his "queen" while discussing their lasting relationship in an interview on The Tamron Hall Show. "The only thing I've done longer than 17 years is the band," he told Hall, adding that she's "been the greatest partner and you know, I feel lucky."

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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.”

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