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PIC: Denise Richards, Charlie Sheen and Daughters Swim With Dolphins

USMagazine, Friday, December 23, 2011, 9:51am (PST)

This vacation is going swimmingly!

One year after his infamous New York City hotel debacle, Charlie Sheen joined ex-wife Denise Richards and their daughters Sam, 7, and Lola, 6, for a tropical getaway. (Richards' 6-month-old daughter Eloise also joined the amicable exes and their kids on the vacation.)

PHOTOS: Charlie's epic year

On Thursday, the 46-year-old actor uploaded a WhoSay photo of himself, Richards and their girls swimming with a dolphin. "Just when we thought the trip couldn't get any better, we met Nuna," he wrote.

PHOTOS: 2011's biggest celebrity meltdowns

The former Two and a Half Men star and Richards, 40, spent Sunday evening "watching the beautiful sunset" together. The following night, the actress had "a fabulous dinner with the girls."

Though Richards has said she'll never get back together with her ex-husband, she knows Sheen will always be a part of her life.

PHOTOS: Hollywood's friendliest exes

"I'll never cut off contact with Charlie," she told Us Weekly in August. "He's my girls' dad. As they're older they'll deal with him how they can."

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