06/21/2012 AT 6:00 AM ET
As Kendra Wilkinson put it herself, being a mom has prevented her and hubby Hank Baskett from getting much one-on-one time. But luckily for the lovebirds, they managed to leave son Hank, 2½, home and slip away recently for a mellow night out.
Taking in dinner at New York City hotspot Asellina, the couple was joined by some friends.
“They drank, but didn’t go overboard,” an onlooker tells PEOPLE. “They seemed like they were having a relaxed night.”
In typically bikini body-conscious mode, Wilkinson ordered grilled chicken, and was “in a good mood” during her night out.
– Dahvi Shira