Photographers spotted the pair while they were out for dinner in Chelsea on Thursday, April 22. The parents, who welcomed a baby girl last month, were seated just outside of an Italian restaurant, allowing their dogs to join them for the feast.
For the occasion, Pippa wore a warm and cozy coat over a black turtleneck, while James sported a leather jacket and jeans.
According to an eyewitness, the couple enjoyed steak and vegetables, before having a cup of tea. The onlooker adds that their dogs were not given any food, but says, "The couple was pretty relaxed as fellow diners came along to say hi and pat their dogs."
James and Pippa moved to the upscale neighborhood in 2018, after they completed extensive renovations on a £17 million home.
They've since welcomed their daughter, Grace Elizabeth Jane Matthews, who was born on March 15, according to the couple's spokesperson.
Baby Grace shares a middle name with auntie Kate Middleton and grandmother Carole Middleton, who recently told Good Housekeeping that she is a very "hands-on" grandma. Carole shared, "I want to run down the hills, climb the trees and go through the tunnel at the playground. As long as I am able to, that's what I'll be doing. I cook with them, I muck around dancing, we go on bike rides."
And now that the coronavirus restrictions have eased in the U.K., Carole said she intends to share more of those special moments with her family. She told the magazine, "I hope to see more of my family than I could last year, including, of course, my new grandchild."