It is the first time the trio have been seen as a family since Delilah arrived a year ago.
She was conceived during a short-lived fling and her parents were never in a committed relationship.
Oh Hey there Delilah :
Despite this Kimberly has been complimentary of Benicio and his commitment to their daughter.
She revealed to Hello! magazine last year that he was even at her bedside while she gave birth.
She said: 'The whole family, including Benicio, was at the hospital and my mom and Benicio were in the delivery room with me.
'Benicio's very involved; he and Delilah have a very special bond.'
She added: 'She definitely looks like her dad, but she has my legs and eye colour.'
Sources: http://www.dailymail.co.uk/tvshowbiz/article-2194389/Benicio-Del-Toro-hands-dad-helps-Kimberly-Stewart-daughter-Delilah.html#ixzz24nNu8mLs
http://www.celebritybabyscoop.com/2012/08/26/kimberly-stewart-benicio-del-toro-family-time-with-delilah