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On Sunday, the 56-year-old took to social media to share a carousel of photos of herself and her daughters, whom she shares with husband Chris Henchy.
"My greatest joy in life is being a mother," the star captioned the post. "Happy Mother's Day to all who celebrate."
The "Suddenly Susan" actress's post was met with well wishes from fans, who encouraged her to enjoy every moment with her girls.
"So much beauty in one photo!" a fan wrote. "Enjoy the moment, all of the hugs and all of the laughs — being a mother is a gift."
"Happy Mother's Day to you and your family Brooke! Children are true blessings on Earth!" commented another fan.
"Absolutely gorgeous ladies!" said another. "I hope those girls are spoiling you. There really is no greater joy that having children!"
In April, Shields and her youngest daughter, Grier, were featured in Victoria's Secret's Mother's Day campaign. Shields hared a clip of the campaign to Instagram, which featured the star speaking candidly about her experience as a mother.
"I don’t think I bargained to feel the pain of loving this much," Shields said. "You think, 'Oh, I’m going to love my babies,' or 'Oh, they’re going to be the world to me.' And then all of a sudden, it’s like did I really want to feel the extent of this love? Because it hurts all the time."
In the ad, Grier was able to express to her mother how much she loves her.
"As much as we fight or no matter what I'm going through with friends, she's always there," Grier said before offering her Mother some words of advice. "I know you're always focused on making sure everyone else is OK. Sometimes it's OK to be a little selfish, and just make sure your needs are taken care of."