Bootstrap 3 vertical form with one inline row of inputs

The following solution works perfectly with Bootstrap 3:

<form>
    <div class="form-group">
        <div class="row">
            <div class="col-md-6">
                <label>First name</label>
                <input type="text" class="form-control">
            </div>
            <div class="col-md-6">
                <label>Last name</label>
                <input type="text" class="form-control">
            </div>
        </div>
    </div>
    <div class="form-group">
        <label>Address</label>
        <input type="text" class="form-control">
    </div>
</form>

This will display first and last name side by side with labels above the fields.

You are correct to think you can use form-inline

You want something like this:

<div class="row form-inline">
        <fieldset>
            <div class="col-md-12">
                <label for="date">Date &amp; Time</label>
            </div>
            <div class="form-group">
                <input type="text" required="" class="form-control" placeholder="Enter a date" id="date" name="date">
            </div>
            <div class="form-group">
                <label for="time">@</label>
            </div>
            <div class="form-group">
                <input type="text" required="" class="form-control" placeholder="Enter a time" id="time" name="time">                
            </div>
        </fieldset>
    </div>