Always a source of inspiring entertainment, Oprah Winfrey welcomed Nicole Richie as her guest on the latest episode of “Oprah: Where Are They Now?”

And during the conversation, the “Candidly Nicole” cutie opened up about her marriage to Good Charlotte rocker Joel Madden.

Nicole explained, "We met and we were partners from day one. And from the second we found out we were going to be parents together, we looked at each other and we said, 'Okay, both of our parents are divorced. We both have had ups and downs with our parents and we don't really have a strong example of what a healthy family life is. But, we're recognizing that now, so let's work at it and let's go through this together as a team.' It's been great. And I would say that's the easiest and hardest part."

As for her mothering style, Richie shared, "I have to always come from a place of love and compassion with them. My kids operate best when I let them have a voice. I really explain things to them, because really, kids want to be told the truth. They just do. They just want you to be truthful."

Furthermore, Nicole discussed her role as one of the first reality stars on television- "The Simple Life was definitely one of the first five reality shows just to be out ever, so I had no understanding of [what to expect] because there were no examples of it. There was no precedent. To me, it was extremely fun. I was 21, 22. Somebody asked me if I wanted to go away with my best friend for 30 days and get paid for it. I went into it like that. I thought, 'This is like backpacking, except I'm going to do it this way...in front of people.’”