Nicole Richie Says She and Daughter Harlow, 16, ‘Share Everything’ When It Comes to Clothing and Makeup (Exclusive)

"My mom never told me that I couldn't borrow anything from her closet, so I have that approach with Harlow, too," the star tells PEOPLE in this week's issue

For as many years as Nicole Richie has been in the spotlight, sporting an array of stunning looks and working with various makeup artists and stylists, she still finds herself picking up tips and tricks from her daughter Harlow, 16.

“I learn everything from her,” Richie, 42, tells PEOPLE in this week’s issue. “You would think that I would know how to do my makeup after I have been getting it done for so long, but I'm really bad at it, and she teaches me everything."

Related: Nicole Richie Trades Nightclubs for Night Serum in Estée Lauder's New Campaign: 'Authentic to Me' (Exclusive)

Richie (who also shares son Sparrow, 14, with husband Joel Madden) says her oldest has “a full Sephora in her bedroom” where she gets to go “shopping for free.” Harlow's picked up her beauty skills from being a competitive dancer.

“When she competes it's a lot of hair and makeup,” Richie says. “She's been dancing for a long time, and I never did her hair or makeup. She did it all. She can do lashes, she can contour. That is her passion. She loves it and she's great at it.”

And when it comes to fashion, “we are in each other's closets,” Richie says. “My mom never told me that I couldn't borrow anything from her closet, so I have that approach with Harlow, too. She takes things of mine, I take things of hers. She's got really great basics and that's something that I don't always spend my time or money buying, and she’ll borrow jewelry sometimes. We pretty much share everything.”

The House of Harlow founder calls her mom Brenda Harvey-Richie “my first beauty muse” and credits her mother with introducing her to Estée Lauder, with whom she partnered for the beauty brand’s new “Night Night Club” campaign.

“I would sit in her dressing room and watch her get ready,” Richie recalls. “She had a huge bathtub and I would sit in her empty bathtub and watch her do her skincare and makeup, and Estée Lauder is one of those brands that I was really paying attention to. And it's been on my counter as long as I can remember.”

Today, Richie says Harlow has a “whole nighttime routine, too.” “I think my daughter is into it,” she adds.

Richie and her family had a matching moment in black at the April premiere of Don’t Tell Mom the Babysitter’s Dead, but the actress shares, “We did not plan that at all.”

“We were not planning on wearing all black,” Richie says. “My husband and son pretty much wear all black, so I guess that's not really a surprise. It just came together like that. My kids have a very strong sense of personal style that I wouldn't even dream of trying to interfere with.”

Related: Nicole Richie Jokes Her Kids Don't Care About Her Show with Paris Hilton: ‘Drive Me to Sephora?’ (Exclusive)

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Meanwhile, Richie is gearing up for a The Simple Life reunion special on Peacock.

“We started shooting this week and we are having so much fun,” Richie gushes of working with Paris Hilton. “We spend our days laughing and having fun, which is truly a dream.”

For more on Nicole Richie, pick up the latest issue of PEOPLE, on newsstands Friday, or subscribe here.

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