Madonna Reunites with Son Rocco – See the Adorable Photo
04/30/2016 AT 04:05 PM EDT
On Friday, the singer took to Instagram to share a photo of a sweet embrace between her and the 15-year-old.
"We Need!" she captioned the photo, adding a purple heart emoji.
Last week PEOPLE reported that the "Rebel Heart" singer would be reconnecting with her son during a stay in a London, despite still being in the midst of a custody battle with ex Guy Ritchie.
During the 57-year-old's visit, she and her son – who refused to return to New York after spending time with his dad in the England – caught a showing of Batman v. Superman: Dawn of Justice. Madonna also reportedly allowed Rocco to invite his friends to her home in London.
It seems the Material Girl and Ritchie are heeding the British court's advice, as High Court judge Justice MacDonald urged the pair "to seek, and to find an amicable resolution," to their custody issues.
Since ending her tour in March, Madonna has made an effort to learn more about Rocco's life in London and a source told PEOPLE that the mom and son's relationship is benefiting from it, as well as her relationship with Ritchie who has visited Madonna's home in the city to spend time with his ex and their son.