In 1987, Lenny Kravitz, then 23 years old, eloped with his girlfriend, actress Lisa Bonet. Lenny met the young star of The Cosby Show backstage at one of his concerts. While the marriage didn't work out, Lenny says, his romance with Lisa was a wonderful experience, one that led to the birth of their daughter, Zoë. Watch as the rockstar talks about staying close with Lisa, whom he calls his "best friend," and learning to be a new kind of family. Plus, Lenny opens up about his close relationship with his daughter.