Kate Beckinsale enjoyed a wholesome day out with her mother Judy on Monday after opening up about her parent's stage four cancer diagnosis.

Actress Kate, 51, wore a cheery white fur coat over a beige shirt, pairing it with some black and grey checked trousers.

The Underworld star added a pair of black boots with huge platforms sporting the word 'F***' on one and 'OFF' on the other.

She wore some circular black sunglasses with black lenses, matching them with a black headband.

Kate accessorised with a dangly gold cross ring on one ear and a gold hoop on the other, as she joined her mum for a cute afternoon in a park. 

Judy, 78, wore a black zip-up jacket with white flecks as she took in the natural world in a wheelchair.

She added black trousers and white pumps and completed her look with some pink gloves. 

The pair seemed to have a fun-filled exploration of the great outdoors, with Kate feeding a squirrel much to the delight of her mother.

They showed off a few dance moves and were even greeted by a pomeranian dog, before joining forces in hugging a huge tree later in the trip.

Kate captioned the post: 'Breathing air and hugging trees and rounding up geese babies and life life life.

'Myf let us down by trying to eat some moody looking prawn crackers on the floor but other than that it was a celebration.'

On Mother's Day, she shared a tearful tribute to her mother, reassuring her that 'any journey you are on, I'm on it with you'.

Describing Judy as her 'partner in crime', Kate posted a carousel of photos from throughout her mum's cancer treatment, as well as memories that hold a special place in her heart.

Kate - who revealed that Judy was sick last year just after her stepdad Roy Battersby died in January aged 87 after suffering 'a massive stroke' - admitted they have been 'through some s**t together' and that her mum has her heart.

Her father and Judy's first husband Richard Beckinsale died in 1979, aged 31, when Kate was just five.

The Fool's Paradise star also offered her advice to others who are grieving.

She said, 'My heart is with you,' on a day that is 'joyful for so many and painful for so many'.

In recent days, Kate returned to social media and asked for good wishes to be sent to her 'extraordinary' mother who she called a 'warrior' in her post.

The actress penned in the caption: 'I wasn't going to come back to Instagram but anyone who has a spare prayer or magic or miracle or sunbeam please send it to my mama, my most extraordinary, warrior, generous, humble, loving, unique, irreplaceable Mama.

'Thank you - Lord, keep her safe this night, secure from all her fears, may angels guard her while she sleeps till morning light appears, amen.'

On Saturday, Kate shared a selection of photos from the set of her new film and captioned it: 'It’s a wrap.

'Thank you to our extremely special cast and crew of this unique and exciting film, and those extra special angels who held me up during a tough time for me to be shooting long days away from my mama. You know who you are.

'I won’t forget the kindness, the laughs or the fart gags. Love you x ps sorry about the “anticipation“ twice. I’m tired x.'

Last year Kate spent weeks in hospital with a stress-related tear in her oesophagus after her stepfather, Roy died and her mother developed cancer.

Last July she gave an update on how she was coping, saying: 'I just think people go through things in their life and we all face difficulties and I've been quite transparent about mine.

'I've just been mainly dealing with my mother and she's doing OK.'

At the time she revealed her weight loss was down to the 'stress and grief' of the death of her stepfather and her mother's cancer diagnosis as she hit back at trolls.