Splendor in the grass with Beyonce and Blue Ivy!

Beyonce and her daughter, about 9 weeks, enjoyed the gloriously warm temperatures in NYC Thursday with an outing to Prospect Park in Brooklyn.

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Wearing full makeup, her hair in a chic black bun with huge hoop earring and sunglasses in black leggings and a black jacket, the "Love on Top" singer, 30, held her baby close as she arrived with her mom Tina Knowles and other pals and their kids. The crew was "chilling on the grass" with a "blanket out," a witness tells Us, with other folks in the group passing around a football.

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"She was walking with her mom and the baby," the observer adds, with her bodyguard holding her Balenciaga bag. "[It was] a family day . . . She seemed relaxed and laid back."

Bonus? "No one was bothering them at all!"

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Later that night, Beyonce and hubby Jay-Z left their precious cargo at home for a date night at Catch in Manhattan, where they helped singer Robin Thicke celebrate his 34th birthday (which is actually this Saturday). Sharing a big table with Russell Simmons, singer O'Neal McKnight and others, Beyonce and her man swapped parenting stories with Thicke, who has a son, Julian, nearly 2, with wife Paula Patton.

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