Heidi Klum packs on the PDA with her husband Tom Kaulitz after he picks her up from glamorous night out

Heidi Klum packed on the PDA with her husband Tom Kaulitz as he picked he up from a glamorous night out on Tuesday.

The model, 50, had been enjoying dinner at Madeo restaurant with Modern Family actress Sofia Vergara, 51, when musician Tom, 34, came to offer her a ride.

As he picked her up the pair shared a passionate kiss as they put on a very cosy display. 

Heidi sizzled in a black vinyl minidress that clung tightly to her supermodel physique.

She completed the outfit with a sparkly clutch bag and wore a glamorous fur coat to keep warm.

Meanwhile Tom wore a casual ensemble to pick her up as he donned a pink jumper and light blue denim jeans. 

Earlier in the night she locked arms with Sofia as they made their way to the Italian restaurant's entrance. 

Sofia, 51, flaunted her hourglass curves in a tight brown maxi dress with long sleeves and a chic high neck.

Though Heidi clearly enjoyed spending some quality time with pal Sofia, the German stunner is her happiest at home with husband Tom.

Over the weekend, she shared a funny clip of the Tokio Motel rocker passed out on their couch in plaid Christmas pajamas and a Santa hat on his head. 

Tom was clearly in a deep sleep as he didn't even wakeup when Heidi sat next to him and placed her head on his chest.

She was also wearing a cute Santa hat and pajamas that matched her spouse's.

As for Sofia's personal life, she split from her husband Joe Manganiello, 46, in July after seven years of marriage.

The Magic Mike actor has struck up a romance with busty blonde Caitlin O'Connor, 33, whom he is thought to have been dating since September.

Caitlin, who is 18 years younger than Sofia, was first linked to Joe a couple of months after news broke that his marriage was ending.

Sofia and Joe tied the knot in 2015 when Sofia was at the height of her international stardom as Gloria Pritchett on Modern Family.

After they announced their separation in July, insiders told DailyMail.com that they were initially attracted to one other because they were opposites.

However, the sources explained that as time went by Joe and Sofia's 'different attitudes' began to drive a wedge between them.

'Joe is a big kid, he loves playing Dungeons & Dragons, he loves wrestling, he is all about video games, superhero movies, comic books, going to concerts, huge NFL fan. He chases fun,' the insider explained.

'He always loves being out and about and just having a good time. And then when it is time to be serious and when it is time to get to work, he turns on that part of himself, but he is always ready to live life to the fullest and go out and just be fun and have fun,' the source continued.