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Lenny Kravitz Explains How He and Lisa Bonet Co-Parented Daughter Zoë 'Without Lawyers' and 'All That Madness' (Exclusive)

Lenny Kravitz Explains How He and Lisa Bonet Co-Parented Daughter Zoë 'Without Lawyers' and 'All That Madness' (Exclusive)

The rock star gets candid about life after divorce and how his family made it work

Lenny Kravitz and ex-wife Lisa Bonet have always put family first.

The rocker, 59, was married to the Cosby Show alum, 56, from 1987 to 1993, and in 1988 they welcomed daughter Zoë, now 35. In this week's PEOPLE cover story, Kravitz opens up about what all it took to raise their daughter together and in harmony.

“I’m very proud of not only how Zoë came out, but how we did it,” he says. “We did it without lawyers and all that madness. We did it as a family, with love.”

Related: Lenny Kravitz Says He Still Has 'Beautiful' Love for Ex-Wife Lisa Bonet: 'She Is Part of My Life' (Exclusive)

Jamie McCarthy/WireImage Zoë Kravitz and Lenny Kravitz
Jamie McCarthy/WireImage Zoë Kravitz and Lenny Kravitz

When it came to Zoë's living arrangement, "it flowed naturally," he says. "She had her years of living with her mom, and then when she was 11, she moved in with me up until she went to college, and it worked out."

One fond memory Kravitz has is taking an 11-year-old Zoë as his date to the Grammy Awards in 2000. "It was just a beautiful father-daughter night going out together," he says. "She had her own individual style going on. I loved taking my daughter out with me. She was cool."

Related: Lenny Kravitz Says Daughter Zoë and Channing Tatum Have Found a 'Special' Love Together: 'They Do the Work' (Exclusive)

Patrick McMullan/Getty Zoë Kravitz and Lenny Kravitz at the Grammys in February 2000
Patrick McMullan/Getty Zoë Kravitz and Lenny Kravitz at the Grammys in February 2000

That said, Zoë did freak out a little bit upon meeting the Spice Girls. "She loved the Spice Girls, and we were on the same label, and she met them, and they had her sit on their lap. She was in heaven."

As for co-parenting with Bonet, "We did it with understanding and being able to handle our own business without getting others involved. That is was Let Love Rule is," he says referencing the title of his debut album, which was largely inspired by Bonet. "It's when you remove ego and all of the other elements and do what you're supposed to do."

Related: Lenny Kravitz Is Letting Love Rule! The Rockstar Opens Up About Family and the 'Power' of Black Musicians (Exclusive)

<p><a href="https://www.instagram.com/melodiemcdaniel/" data-component="link" data-source="inlineLink" data-type="externalLink" data-ordinal="1">Melodie McDaniel</a></p> Lenny Kravtiz People Cover Story

Melodie McDaniel

Lenny Kravtiz People Cover Story

Finding that balance, "took time, believe me," he says of his parenting partnership with Bonet. "But we wanted to have that and to this day we still do."

For more on Lenny Kravitz's life and loves, along with other Black History Month stories, pick up this week's issue of PEOPLE, on newsstands everywhere Friday.

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Read the original article on People.