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Robert Downey Jr. shares peek of intimate birthday celebration surrounded by rarely-seen children

The Marvel legend is now a 58-year-old genius, billionaire, playboy, philanthropist

Robert Downey Jr. during a UFC event
Ahad Sanwari
Ahad Sanwari - New York
Senior WriterNew York
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Robert Downey Jr. is not letting the years slip by unearned, providing a peek at the special home celebration for his 58th birthday on April 4th.

The actor was surrounded by friends and family, including kids Exton, 12 and Avri, seven, with wife Susan Downey, and also oldest son Indio, 29, with his first wife Deborah Falconer.

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Robert celebrated his 58th birthday with friends and family

Susan was part of the celebration too, as Robert received his magnificent birthday cake with a sense of childlike glee.

A social media post the actor shared also served as an opportunity for him to look back at his 57th year in life and career, including snippets of projects from the past year.

MORE: Robert Downey Jr.'s very famous relationship – and the heartbreaking reason it ended

SEE: Robert Downey Jr shares first photo of daughter Avri

Robert even threw in the memory of his head being gleefully shaved by his two youngest in preparation for his TV series The Sympathizer, paired with a sweet one of him resting in the arms of his wife-of-17-years Susan, which you can see in the video below.

WATCH: Robert Downey Jr.'s kids shave his head

The HBO miniseries marks the actor's big comeback to the screen after hanging up his role as Iron Man, also his first starring TV role, an adaptation of Viet Thanh Nguyen’s Pulitzer Prize-winning novel of the same name.

"57 you've been too kind, with deep gratitude I shall rewind…," he wrote alongside his post, receiving a flurry of birthday wishes from his fans and friends.

MORE: Ginger Zee steals the show in unexpected photo with Robert Downey Jr.

"Glorious my man, glorious," Jeremy Renner wrote, with Gwyneth Paltrow adding: "You are one of the true greats, my darling. HBD. I LOVE YOU 3000." His other Marvel co-stars Chris Hemsworth and Mark Ruffalo also shared dedications to him on their social media.

A fan also said: "Happy birthday Mr. Stark, initiating birthday protocols," while another shared a sentiment that many others echoed: "Can't accept our ironman getting old."

Robert Downey Jr. and Susan Downey at the New York Film Festival© Getty Images
Robert and Susan have been married for 17 years

Robert spent a majority of his year working on production for his upcoming miniseries or on the film circuit promoting the critically acclaimed documentary Sr., a raw look inside his relationship with his filmmaker father Robert Downey Sr. and a glimpse at their final moments together.

The actor was able to reflect on those times while at the LA3C festival organized by Penske Media in December, saying: "It's really raw. Even standing back there watching it 40 minutes ago, I was like, 'Jesus.'

"I'm still processing it but it's a luxury to have something like that documented as a touchstone to keep going back and thinking about it."

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