The "Selfish" author, 35, accompanied the newly engaged couple to a doctor's appointment and to brunch at Nate'n Al of Beverly Hills, reported Us magazine.
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The outing marks the first time that Rob, 29, has been spotted out in public with Kim since before he bailed on attending her May 2014 wedding to Kanye West.
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As previously reported, Kardashian has also repaired her relationship with former good friend Chyna, 27, since the model started dating her younger brother.
Prior to romancing Chyna, Rob was a recluse and was struggling with depression and weight gain.
PTI