Nicole Richie Rapping Karaoke with Husband Joel Madden

[[tmz:video id="0_xp8d5nm6"]] Talk about a blast from the past -- we got Nicole Richie rapping early 2000s Dr. Dre alongside her hubby, Joel Madden ... and killin' it too. Lionel Richie's eldest kid hit up the Retro Room in Palm Springs Friday night…