The Good Charlotte singer opens up about his home life with wife Nicole Richie in a new interview with PEOPLE.
During the candid conversation, Madden reveals how Nicole has helped him feel secure and safe in his adult life ... especially since his father walked out on him and brother Benji Madden when they were just kids.
"When you grow up in a broken home, there's something about finally find love and security in your family," Madden says about his family life today. "We're grateful for our families and the love we have in our lives."
"I give my wife a lot of credit," he continues. "She's an incredible partner and really supportive."
The cute couple -- who tied the knot in 2010 -- share daughter Harlow, 8, and son Sparrow, 6. And with two children and six years of marriage under their belts, Joel says his family life is pretty perfect.
"There are moments where you feel like life is perfect, and you want to stay in that moment forever, and that's how we feel: really blessed and lucky," Madden reveals, noting that his family served at the main inspiration for his and Benji's new single "Life Can't Get Much Better."
"My kids are big fans [of my music]. They like to go on tour now that they're old enough, and they're definitely very musical," he adds. "It's been fun for the family."
With a strong support system and a successful career, the 37-year-old musician feels very fortunate that his life turned out the way that it did.
"We landed on our feet. There was a whole bunch of different ways it could have gone wrong, and the thing I'm most proud of is we ended up okay as a band as people," he reveals.
What do you think about Joel's candid comments? Sound off below and check out the gallery above to see more long-lasting celebrity couples!