"They live with their daughter."
Translation:Elles vivent avec leur fille.
I thought habiter (to live in, dwell in, inhabit) would work as the verb in this sentence. I tend to think of vivre as meaning to endure or subsist or survive ("Vivent les Etats-Unis !"). My copy of 501 French Verbs lists the two as synonyms, though of course nuances must exist in their usage.