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Over the summer, The Sun Online exclusively revealed the children would be staying with the couple while his ex-wife Katie Price works through personal and financial issues.
Peter, 45, and Emily, 29, have two children of their own as well as their busy careers to juggle.
But speaking to The Sun Online at the Pride of Britain Awards, the Mysterious Girl singer insisted they take it all in their stride.
Explaining why he was on his own at the event, he said of his doctor wife: "I'm solo tonight because Emily's at work and she's still – at 6.30pm – hasn't finished yet.
"We're a good team, she's really good, she's always smiling, I'm always smiling."
With four kids under one roof as well as his music career, Peter is always on the go, but he said he and Emily are really good at planning their time to make sure everyone's needs are met.
He continued: "We're so lucky, I feel so lucky and I find ways to juggle it because you get used to what you do and you take time out to be with your family."
Back in June, his son Junior, 13 and daughter Princess, 11, moved in with him and Emily and their children Amelia, four and Theo, one after he told Katie he was worried about her "constant partying".
Since then, Katie has checked into The Priory rehabilitation centre and spent a night in a police cell after her Pink Range Rover crashed into a bush in South London.
Last week, son Junior cheekily asked him if he's feeling "stressed" as he pointed out his grey hairs in a funny Instagram clip.
The teen poked his dad's cheek and told him he was getting "a bit old" – which the Mysterious Girl hitmaker was quick to deny.
Junior quipped: "Papi's getting a bit old, is Papi OK?
"Papi your cheek's getting a bit… you've got some grey hairs Papi. Are you stressing? Aw."
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