Lenny Kravitz and ex-wife Bonet 'best friends'

Lenny Kravitz has only "wonderful" memories of his failed marriage with Lisa Bonet.

The 49-year-old musician and the 45-year-old Cosby Show actress eloped in November 1987 on her 20th birthday.

The pair welcomed daughter Zoë Kravitz in 1988 before divorcing in 1993.

Lenny and Lisa were friends for years before engaging in a romantic relationship.

The rocker is proud to state they remain on great terms with each other.

"We were very young and, uh, it was wonderful," Lenny revealed on the forthcoming episode of Oprah's Master Class. "And we had Zoë, which is. . . I see now what it was all about. It was really all about bringing this beautiful child to the planet. And also sharing the love that we had. Zoë's mom and I now are best friends. It's interesting because that's how the relationship started."

Lisa married actor Jason Momoa in 2007 and they share two small children together.

Lenny was briefly involved with Brazilian supermodel Adriana Lima, but they called off their engagement to wed in 2002 after dating for about a year.

Lenny loves his extended family and enjoys spending time with the entire clan.

"When we're all together now – [Lisa's] man, her kids, Zoë, me -- we're all together and we're one big happy family," Lenny said.

"It's beautiful, and it just shows you what can be done."

Oprah's Master Class airs in the US on Sunday June 2.