Sarah Jessica Parker and Matthew Broderick's Love Story Is Like No Other

After more than 20 years together, they still have romantic date nights.

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Although she's best known as the quintessential single gal Carrie Bradshaw, Sarah Jessica Parker has been happily married to fellow actor Matthew Broderick for more than 20 years. And these days, she may star in a show called Divorce, but her offscreen marriage is rock-solid.

Here's the story of how the glamorous duo met, and how they maintain a happy marriage and family life while balancing their careers.

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They met on Broadway, thanks to the Naked Angels theatre company.

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Although SJP and Matthew are best known for their film and television roles, both got their start as Broadway performers at a young age. Sarah's brothers, Pippin and Toby, helped start a Broadway , and Matthew Broderick quickly became involved. In 1991, shortly after Sarah had broken up with Robert Downey Jr., one of her brothers introduced her to Matthew, and the pair began dating.

"Matthew and I come from a different time and place. When we were young people, all we ever wanted was to be good working actors. We didn't think of fame or money because, honestly, money was never part of the dream," Sarah told . "It was to work in theater, to be around those people whose work I was in total awe of."

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They married in 1997, surprising their friends and family.

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The couple kept their wedding plans a secret from friends and family. Their 100 guests showed up to a Lower East Side synagogue on May 19, 1997, thinking that they were there to attend a party. Further defying convention, Sarah didn't wear . Instead, she went bold with a now-iconic black ruffled Morgane Le Fay dress.

"I never thought about a wedding dress. Never. Had not one daydream about it," she told . "At one point I just simply remember thinking, 'God, I really hope he asks me to marry him.' I don't know when or why. It was fairly early on."

In a fitting homage to how they first met, the reception (which reportedly went until 2 a.m.) was full of show tunes.

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They waited a while to have kids.

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In 2002, a few years after Sarah had stepped into Carrie Bradshaw's iconic shoes on Sex and the City, the couple welcomed a son, James Wilkie. Seven years later, they had twin girls — Marion and Tabitha — via a surrogate.

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And Sarah is one proud mama. She told PEOPLE that James has "a great group of friends."

"Sometimes I just sit on the stairs because they're all in the kitchen, eating all the food, and I listen," she said. "And I'm so charmed by their conversation. I'm so happy with the young man he's becoming."

Of her twin girls, she said they've established strong and separate identities.

"I'm proud that our children talk to us in the way they do. I'm glad they're curious people."

Matthew joked to shortly after the twins were born that "the father thing is basically improv. I'm just making it up as we go along." Sounds exactly like what we'd expect Ferris Bueller to say!

They keep their marriage strong with regular date nights.

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The couple has several favorite, near their home in the West Village. Naturally, they're still big Broadway fans, often for a performance .

Though they tend to keep much of their relationship private, Matthew did share a little bit about their marriage in 2014. "We really are friends beyond everything else and we talk a lot," he told . "She's really funny, she makes me laugh."

Sarah told that after 20 years of marriage, things tend to change, but that can be a good thing. "You and your partner are going to change. It seems so silly, but I think you're very lucky if you like the person. I still just really like him. I'm sure I annoy him and he annoys me, but I literally learn about him every day."

They're not slowing down anytime soon.

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The couple still stays pretty busy. In addition to starring in Divorce, Sarah is launching a new fashion collection, while Matthew recently starred in American Crime Story and has other projects in the works.

Sarah says she foresees the couple doing plenty of traveling, but she's firmly committed to her work.

"I've traveled so much, but more often than not without Matthew because it's been for work," she says. "I can't imagine that I don't want to be working in some way, because it just brings me so much joy. I still love acting," she said.

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