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Mel B pictured with pals was spotted out on a lunch date with her daughters Madison Brown Belafonte and Phoenix Chi Gulzar in Malibu on Saturday.

Former Scary Spice, 41, is in the middle of a turbulent divorce from estranged husband Stephen Belafonte, and she was surrounded by friends as she and her girls made their way to lunch at Nobu.

The outing comes just after new details in court papers claim the singer 'taught' her 'naive and curious' nanny, Lorraine Gilles, now age 26, about sex and became her lover.

Mel B held five-year-old daughter Madison's hand as she headed towards the beach front restaurant.

Madison wore black leggings, a white top, and black flats.

Her older half-sister, Phoenix, 18, wore ripped acid washed jeans, a matching jacket, and beige ankle boots.

Phoenix had her hair scraped back into two buns and finished off the look with a pair of yellow tint sunglasses.

Mother of three Mel walked hand-in-hand with her youngest while her teenage daughter Phoenix followed the group at the back.

Madison is Mel B's youngest child.

She and her estranged husband Stephen Belafonte welcomed Madison in 2011.

Mel's daughter Phoenix is from her first marriage to dancer Jimmy Gulzar, who she married to from 1998 to 2000.

The former Spice Girl also has ten-year-old daughter Angel Iris Murphy Brown from her previous relationship with actor Eddie Murphy.

Gilles traveled with Mel to look after her children, but photos show that they were very close, and would hang out together. Gilles says that they would have sex multiple times a week

The gorgeous blonde says that she and Mel were engaged in a seven-year secret and 'loving' relationship that was separate from the ex-Spice Girl's relationship with her husband

Gilles filed legal action against Mel B for portraying her as a 'homebreaker, jezebel, whore' during her divorce proceedings from Belafonte, and denies that she split up their household

Gilles says that Mel B pressured her into recording videos of threesomes between them and her husband - contrary to claims made in Mel's divorce proceedings

Mel B also allegedly encouraged the nanny, now 26, to make 'embarassing' sex tapes - even though the young woman was 'uncomfortable' with the idea

Emails between Mel B and her nanny Lorraine Giles reveal how close the pair were