A very nice spot for a good meal and some people watching is La Rose Blanche, on the Grand Place.
It does not have the beer selection of the places mentioned before, but it is a place my better half and I go to every time we are in Brussels.
The food is absolutely wonderful and they are the past masters at cooking with beer.
The first time we ate there, we both went for the beer menu. This is a three course meal, with a choice of starter, main course and desert, where every dish has a beer based sauce, or was cooked in beer and comes with a beer selected to compliment that particular dish.
The last time I was there for lunch, I got the Flemish beef stew, which is beef cooked in dark beer. The beef was so tender it was falling apart when the spoon touched it. This and a glass of Rodenbach. Mmmm.
Don't go if you are in a rush. It's not that the service is slow, it's just that the combination of generous portions of delicious food and good beer tend to make you sit back and relax.