Nicole Richie opens up about parenthood and life with Joel Madden

She covers everything from haircuts to flower arranging on #CandidlyNicole, but Nicole Richie gets serious in a new interview with Oprah Winfrey.

The social media-savvy actress and designer recently opened up about her parenting style with her two children, six-year-old daughter Harlow and four-year-old son Sparrow, stressing that children want to know the truth.

Nicole, 32, was adopted as a nine-year-old by Lionel Richie, and is trying to raise her children with Good Charlotte rocker Joel Madden so that they aren't overprotected.

There’s always room for improvement,” she said of being a parent on Oprah: Where Are They Now?I do know that I do the best I can.”

SCROLL DOWN TO VIEW VIDEONicole Richie has spoken about her parenting style

Nicole has made no secret of her struggles growing up in a famous family. Singer Lionel took her in unofficially three years after she was born to his bandmate Peter Escovedo and his executive assistant partner. Nicole went through run-ins with the law during her early years in the public eye, but has transformed her image since becoming a mother.

Oprah Winfrey interviewed Nicole Richie on her TV show

I have to always come from a place of love and compassion with them,” she continued about remaining honest with her little ones. “My kids operate best when I let them have a voice and I really explain things to them. Because, really, kids want to be told the truth. They just want you to be truthful.”

Lionel Richie adopted Nicole as a child

Nicole, who rose to the limelight on reality show The Simple Life with then-best friend Paris Hilton, added that starting a family has really been an eye-opener.

They know you more than you know yourself,” she shared.

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