T.J. Holmes and Amy Robach Gave 'Deep Thought' Into Bringing Their Daughters to Jingle Ball Red Carpet: 'No Small Thing'

The couple smiled with their daughters Sabine, 11, and Annalise, 18, whom the couple welcomed separately during previous relationships

Amy Robach and T.J. Holmes recently made their Jingle Ball red carpet appearance a family affair, although the couple admits the moment required a lot of discussion with their daughters.

On Friday, Dec. 13, the former GMA3: What You Need to Know co-hosts attended iHeartRadio Jingle Ball in New York City alongside Robach's youngest daughter Annalise, 18, whom she shares with ex-husband Tim McIntosh, and Holmes' daughter Sabine, 11, whom he shares with ex-wife Marilee Fiebig.

Their red carpet appearance marked the first for the familial crew, and on the Wednesday, Dec. 18, episode of the couple's iHeartRadio podcast, Amy and T.J., the proud parents revealed that it was "no small thing."

Never miss a story — sign up for PEOPLE's free daily newsletter to stay up-to-date on the best of what PEOPLE has to offer​​, from celebrity news to compelling human interest stories.

Related: Amy Robach Says She and T.J. Holmes Are 'Missing Out' on Having Kids Together, Have ‘Similar’ Parenting Styles

"We had to have a discussion with our kid before we walked out on a red carpet," Holmes, 47, shared, adding that "they didn't have to do it at all" if they didn't want to, but "they just kept pushing."

He continues, "There was no small thing, and a discussion had to be had ahead of time."

Even so, "I was still a little nervous about it," Holmes admits, "but Sabine gave me the thumbs up on the okay."

Robach, 51, acknowledged that "it was the first time" the pair brought both of their daughters with them onto a red carpet.

"Obviously, it's only been a year since the two of us were on the red carpet, so for us to go on the red carpet with one of our daughters — a piece altogether, the four of us standing there, that was a decision," she says.

The PEOPLE Puzzler crossword is here! How quickly can you solve it? Play now!

"We talked to our daughters about it, and everybody was okay with it," she shared. "And so we went for it."

Holmes and Robach seemed even more nervous about making their carpet debut with Sabine and Annalise than their daughters. As the proud mom said, "That wasn't just something that we didn't give deep thought to before we walked out on that red carpet"

In addition to Annalise, Robach and McIntosh, who divorced in 2010, also share a daughter, Ava, 22. Holmes is also a dad to daughter Brianna and son Jaiden with his first wife, Amy Ferson.

In a January episode of their podcast, Robach said the couple's relationship with their children is "evolving."

"As tough as it's been for so many people in our lives, it's the most difficult for them because now they're having to look at us in a different way with one another," Robach explained. "We have been very thoughtful and we've taken things very slowly and we're being very patient. But things are good. They're peaceful, and we want to continue building on that."