Click on the photo below for more pictures of Rochelle and Alaia-Mai.
Posting the picture through her Instagram account on Wednesday, The Saturdays singer simply wrote, "Family time."
The touching snapshot shows the young family looking blissfully happy, with Marvin holding the five-month-old while mum Rochelle gives her a kiss.
The new parents made sure Alaia-Mai was dressed for the occasion, in a bright pink and purple baby swimsuit that matched Rochelle's colourful bikini.
Rochelle also shared the adorable picture with fans through her Twitter account, writing, "The best morning with my world."
The couple, who married in August 2012, became parents for the first time on 20 May this year and have kept fans updated with several sweet photos of their daughter.
Rochelle, who has just gone back to work with The Saturdays after her maternity leave, has been demonstrating how to successfully juggle work and motherhood.
In August, the new mum shared a snap on Instagram of herself in the recording studio cradling the little girl, with the caption, "Multitasking at its best."
Alaia-Mai is the second baby to join The Saturdays' family, with Rochelle's band mate Una Healy already mum to one-year-old Aiofe Bell, her daughter with rugby player Ben Foden.
The two little ones are soon to be joined by a playmate, as Frankie Sandford is expecting a baby boy with her fiancé footballer Wayne Bridge, any day now.
"I can no longer call anyone without them going into a panic that I've gone into labour!" Frankie revealed on Twitter. "Sometimes a preggo girl just wants a chat!"