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Nicole Richie takes her prince and princess to London for Rapunzel's "royal celebration"

Nicole Richie and husband Joel Madden take their children Harlow and Sparrow to the Rapunzel's Royal Celebration at Kensington Gardens on Oct. 2, 2011. The event welcomed Rapunzel into the Disney Princess royal court. David Parry/PA

(CBS) Nicole Richie, husband Joel Madden, and their children Harlow and Sparrow were all in attendance to welcome Rapunzel as the newest Disney princess at Rapunzel's Royal Celebration event in Kensington Gardens and the adjacent palace in central London.

Pictures: Rapunzel in London

British pop star Shannon Saunders entertained the crowd with Disney Princess' new theme song, "The Glow."

But the main attraction was the entrance of the Rapunzel, who was featured in Disney's "Tangled." About 10,000 fans lined the Princess Parade route to watch nine horse-drawn carriages bring the newest member of the Disney "royal family" to the ceremony.

Organizers also invited "princesses" from around the world, including Laurie Senio from Centreville, Va.,  and  her daughters 8-year-old Allie, 7-year-old Sammi and 3-year-old Katie. They entered the "Princess Moment" video contest, and won a vacation to London.

Rapunzel now joins Ariel, Aurora, Belle, Cinderella, Jasmine, Mulan, Pocahontas, Snow White, and Tiana in the court of Disney royalty.

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