Nicole and Joel welcome daughter

Nicole Richie and her rocker boyfriend Joel Madden are the parents of a daughter. Harlow Winter Kate Madden was born Friday at Cedars-Sinai Medical Center and weighed 6 lbs. 7 oz. "The beautiful healthy baby girl left the hospital with her ecstatic parents," says the rep, who confirmed the birth. Richie entered the hospital through a secret entrance late Thursday. Both Courtney Thorne-Smith and comedian David Alan Grier welcomed babies Friday. Richie's parents and Madden's brother Benji and his girlfriend Sophie Monk were at the hospital.