Elizabeth, 48, seemed delighted to see the youngsters, and gave Brooke a warm hug as they strolled along the streets of London together. She did keep her distance from the former cricketer, however, and her engagement ring was noticeably still absent.
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It is the first time that Elizabeth has been pictured with Shane, 44, since their relationship was reported to be on the rocks.
And with speculation growing over the status of their romance, Elizabeth recently took to Twitter to address the increasing rumours about her private life.
"The great thing about reading fiction about oneself in the press is that it reinforces your faith & belief in your actual friends," she wrote on Monday. "None of whom ever say anything to anyone.
"Safely assume all unattributed quotes are made up by journalists desperate for copy."
She then urged her followers to pick up a book rather than the tabloids. "If you're looking for a good fiction read, forget the tabloids and try this. Fabulous," she wrote next to a picture of Rohinton Mistry's novel Family Matters.
One of those good friends Elizabeth referred to is likely to be shoe designer Patrick Cox. Following her afternoon with Shane and his children, Elizabeth headed out for an evening out with the Canadian-British fashion star.
They had plenty to discuss. Despite their apparent problems, Shane is said to be determined to save his relationship with Elizabeth.
On Wednesday, the couple sent mixed messages on Twitter in the wake of their alleged split.
While Elizabeth seemed to confirm they were no longer together, telling fans that the events were "too raw and personal to share right now", Shane insisted they hadn't "thrown in the towel just yet".
The Australian sports star wrote, "Some of the reports re EH & me r absolute rubbish. Yes, we're sorting through some (private) issues. But we're not throwing in the towel yet."
Shane flew into London from Australia last week. The considerable distance between his home Down Under and Elizabeth's London residence has been cited as one of the reasons the couple's relationship has faced difficulty in recent months.
Noticeably, the Twitter-savvy stars, who would frequently send each other public tweets, have not mentioned each other for several weeks — most noticeably when Shane celebrated his 44th birthday earlier this month.
Shane and Elizabeth were first linked in July 2010 when they were photographed chatting together at the Glorious Goodwood Festival in Sussex.
After a year of dating, the couple announced on Twitter that they were engaged following Shane's proposal at St Andrews in Scotland in October 2011.