The 26-year-old actress and singer enjoyed a family meal on Tuesday (15 October) at Madeos Restaurant with Luca and her husband Mike Comrie.
Keeping it simple yet stylish, Hilary wore a striped black and white long-sleeve top teamed with black skinny jeans. Adding a splash of colour, she finished off her look with red stilettos.
The former Lizzie McGuire star was photographed leaving the popular restaurant, which has welcomed the likes of Halle Berry, Kelly Rowland and Julianne Hough, in recent months.
Little Luca looked adorable in a blue jumper and mustard yellow trousers paired with black trainers. The one-year-old clutched onto a blue toy car, which he held up to his mouth, as he was being carried out of the venue.
Doting mum Hilary is now juggling family life with music, after stepping back into the recording studio last month.
After a five-year hiatus, Hilary is preparing to make a music comeback with a new album, which will act as a follow-up to her last EP, Dignity.
During a Twitter Q&A In August, Hilary told fans of her music plans: "I'm exploring a lot of cool options and don't want to give a timeline yet but I promise exciting stuff is coming."
Fitting in some recording sessions on Monday (14 October), Hilary told her followers: "Studio fun."