The 42-year-old English actress and 47-year-old Welsh actor enlisted their 17-year-old daughter, Lily Mo, to recreate a scene from her birth.
"Always a baby to me #Lily," Beckinsale captioned the picture on Instagram.
The Underworld star and the Twilight actor welcomed their daughter in January 1999. The former couple were together from 1995 to 2003 and previously recreated the moment of Lily's birth on her 16th birthday.
"We reenacted her birth and took pictures of it!" the actress told E! News this month. "I wasn't naked! I was actually in a very nice cigarette pant and a high heel. Michael took one of my legs and Lily came from behind and was diving between my legs."
Beckinsale elaborated on Tuesday's episode of The Late Late Show with James Corden, explaining she and Sheen thought it "might be quite nice to recreate the birth in a photo." The actress brought the picture along and gave a play-by-play of the scene.
"That's why there's so much effort on my face, personally, and Lily's doing the 'Yikes, I'm coming out of a vagina' face," she said. "And Michael's not doing very much at all, which is quite, realistically, what the real thing was like."
Beckinsale plays Selene in the Underworld film series and will reprise the role in Underworld: Blood Wars, which opens Oct. 14. Sheen will voice McTwisp in Alice Through the Looking Glass and is also slated for Passengers with Jennifer Lawrence.