The 42-year-old retired MLB star and 48-year-old singer and actress enjoyed a family outing to an ice cream parlor before returning home to watch Rodriguez's series Shark Tank.
Rodriguez, who shares 12-year-old Natasha and 9-year-old Ella with ex-wife Cynthia Scurtis, posted a photo on Instagram with his daughters, Lopez and her children, 9-year-old twins Emme and Max.
"#MySunday. Ice cream in the afternoon and then home to catch @sharktankabc! Tweet along with me during the show!" he captioned the picture for his 1.1 million followers.
Rodriguez and Lopez, who shares her twins with ex-husband Marc Anthony, confirmed their relationship in March. The couple shared details about their first date in a joint interview for the December issue of Vanity Fair.
"I don't know if he thought it was a date. I thought it was a date," Lopez recalled of their dinner in Los Angeles. "Then I knew he was nervous because he asked if I wanted a drink. I said, 'No, I don't drink,' and he asked if I minded if he had one. He was nervous, and it was really cute."
"[I was] uneasy," Rodriguez confessed. "I went to the bathroom and got enough courage to send her a text."
Rodriguez said on the Oct. 2 episode of Jimmy Kimmel Live! that his daughters have been the biggest supporters of his relationship with Lopez. He told host Jimmy Kimmel his girls sometimes FaceTime him just to talk to the actress.