It was the first time the couple had been seen out together, and came just a day after his wife of three months was rushed to hospital following a seizure.
Reunited: Bobby Brown and his wife Alicia were seen out in Florida after dining at Landry's Steakhouse, after she recovered from a diabetic seizure
She wore a flowing maxi dress and told well-wishers she felt better and was recovering well.
Bobby also looked in good spirits and gave a 'thumbs up' sign to the camera before getting into his car.
Over the weekend the concerned singer tweeted: 'The report that my wife was rushed to the hospital is true.
'She is recovering and is in good spirits and doing well. Please keep my family in your prayers.'
Family time: Bobby and Alicia enjoyed lunch with son Cassius, three, who looked cute in shorts matching his father's
Good news: Bobby told fans he had made it to 21 days sober
The father-of-five performed last night in Orlando with R&B group New Edition and proudly told a sell-out crowd about his new-found sobriety.
The singer was on stage performing with his former group despite wife Alicia, who is also his manager, being admitted to hospital hours earlier after suffering a diabetic seizure in the couple's Florida hotel room.
Bobby and Alicia, who have three-year-old Cassius together, married in Hawaii in June after the singer proposed to her at a New Edition concert in 2010.
Meanwhile the troubled singer hit back at reports he had left rehab early last night telling fans: 'I'm seven and a half years off narcotics, 21 days clean of alcohol and I go by Bad Ass Bobby Brown.'
The 43-year-old, who was arrested for driving under the influence in March, entered a rehab facility last month to battle problems with alcohol.
But Brown left the facility after only two weeks, prompting speculation that he had not completed his proscribed treatment.
Bobby entered the rehab facility on August 14 as part of a plea deal following his March arrest in Los Angeles.
In a statement, attorney Christopher Brown said: 'Mr Brown takes his agreement very seriously and admitted himself three weeks after concluding his honeymoon in Mexico during a break from the New Edition tour.
'Bobby is doing well and receiving services that comply with his agreement with the State of California.'
All white now: The New Edition singer, who was performing in Orlando over Labor Day weekend