NEW : Shriver wants joint custody of the couple 's two minor children . Shriver and Arnold Schwarzenegger divorced after more than 20 years together . He has admitted to having a child outside of his marriage . Shriver and Madonna share four children .
NEW : Shriver wants joint custody of the couple 's two minor children . Shriver and Arnold Schwarzenegger split after more than 25 years together . He has admitted to fathering a child outside of his marriage . Shriver and Schwarzenegger share four children .