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Rumi and Sir were born five months ago, but a photo was never shared of the twins.
The 36-year-old Halo singer looked like a proud mother as she was seen cradling Sir close in her arms while her mother Tina Knowles doted on Rumi, who looked darling with a white bow in her hair.
Also seen was their first daughter Blue Ivy, aged five, as well as Beyonce's husband Jay Z, 47.
Little Blue wore two cute looks as she seemed to have a ball with her new siblings.
The couple was in Miami for Jay's concert date at the Amway Center in Orlando on Saturday night.
Beyonce had on a floral bodysuit that fit perfectly with the tropical setting. The Lemonade star also had a blue shirt tied around her waist.