The 25-year-old comedian was spotted Tuesday leaving Nobu in Malibu with his 45-year-old "Underworld" star girlfriend alongside her mother and stepfather.
Dinner apparently went well for the group because Pete looked happier than ever sitting behind the driver's wheel as they left the celebrity hotspot. Kate rode shotgun while ol' Judy and Roy took the backseat.
This is the second time this week Pete and Kate have been spotted enjoying a good time, as the duo were seen Monday night leaving the after-party for Mötley Crüe's biopic, "The Dirt."
Tuesday was also an emotional day for Beckinsale, as she was recognizing the 40-year anniversary of her father's death. She shared a sweet tribute earlier in the day expressing how much she still missed him.