The pop star took son Rocco and some friends out on Wednesday, documenting the outing with a fun photo on Instagram.
"Fun in London with my homies," Madonna captioned the photo, which features Rocco in the upper right corner and her in the lower right. She completed the caption with a series of Union Jack, champagne, ghost and party emojis.
Source: Madonna Instagram
Madonna, 57, has spent the last few weeks in London working to repair her relationship with Rocco, 15, after he left her "Rebel Heart" tour in December to live with dad Guy Ritchie in the U.K., sparking a bitter custody battle on both sides of the Atlantic.
Since Madonna arrived in London earlier this month, she and Rocco have attended a screening of Batman v Superman: Dawn of Justice, seen the edgy new show You Me Bum Bum Train, visited the "Strange and Familiar" photography exhibit at the Barbican arts centre and dined at London hotspot Chiltern Firehouse. The hardworking mom also allowed Rocco to invite several pals to her London home for a small party.
"Since it was Monday afternoon, the gallery was almost empty. [The group was] following a private visit guide who was explaining the art of the photographers being shown in the gallery, one room after another," an onlooker tells PEOPLE exclusively.
"They looked happy, relaxed and were very interested in the exhibition. There was lots of chatting and laughing going on and they stayed in the gallery for around an hour and a half to enjoy all the rooms of the exhibition. Madonna asked a lot of questions about the photos and Rocco spent a lot of time talking to his friends.
The source adds, "Madonna and Rocco seemed very relaxed and happy together. They were just like any other mum and son."
All of this effort seems to be Madonna's way of following the advice of British High Court judge Justice MacDonald, who told her and Ritchie earlier this month "to seek, and to find an amicable resolution."
"It would be a very great tragedy for Rocco if any more of the precious and fast receding days of his childhood were to be taken up by this dispute," MacDonald said.