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Bobby Brown went for a stroll in Beverly Hills with 2-year-old son Cassius ... his child with manager and girlfriend Alicia Etheridge.

This is the first time Brown has casually stepped out since the funeral of his ex wife, Whitney Houston.

As for Etheridge and Brown, they've been dating since 2007.

In addition to Cassius, Brown has four other children from former relationships including Bobbi Kristina ... his daughter with Whitney.