Heidi Klum and Bodyguard Boyfriend Martin Kristen Hit the Beach in Hawaii

Model's parents and four children with ex Seal also tag along for fun day at the beach

Holding hands with your gorgeous girlfriend on the beach in Hawaii? Martin Kristen, you are one lucky man.

On Tuesday, the Project Runway host and her bodyguard beau had some fun by the sea. Heidi and ex-husband Seal's children, Leni, Henry, Johan and Lou, were also in tow, along with the model's parents.

Heidi and Martin kept an eye on the kids, of course, and also helped them to build sandcastles. Later in the day, the blond beauty was spotted enjoying an ice cream cone.

Back in November, she told Bunte, a German mag, that she's "in love" with Martin.

Part of the reason why she adores him so?  "He's been helping me for four years now, and he takes wonderful care of the kids," she gushed. "He plays with them, he protects them. I trust him."

"There will always be people who will criticize whoever I live with, what kind of clothes I wear or what hairstyle I have," she added. "At the end of the day, you have to do what makes you happy. That's the rule I live by."