Madonna and Son Rocco Reunite in New York City Ahead of Custody Hearing, Wear Creepy Masks for Family Night Ou

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Madonna is spending some quality time with her son Rocco in New York City.

The 57-year-old singer took two of her children, 19-year-old Lourdes and 15-year-old Rocco, to the off-Broadway show Sleep No More at The McKittrick Hotel on Tuesday night, all three wearing masks as they exited the performance. The popular, sold-out show has audience members famously wear Venetian beak masks, which provides anonymity for celebrities to enjoy the theatrical experience as they roam six different floors and over 100 rooms. Past celeb attendees have included Emma Stone, Jennifer Lawrence, Justin Timberlake, and Ryan Gosling.

Elder Ordonez/

WATCH: Madonna Dresses Up as a Sad Clown, Dedicates Emotional Performance to Rocco Amid Custody Battle

Tuesday's outing marks the first time since late last year that Rocco has been back in the United States. The teenager has been living with his father, director Guy Ritchie, in London, despite a court ruling that previously granted Madonna care of him. The "Rebel Heart" singer and 47-year-old Ritchie have been embroiled in a drawn-out custody battle since December over their son's living arrangements. The two were set to have the custody hearing on the matter on Wednesday, but it was delayed to June 14.

Early last month, Madonna reunited with her son in London, where it appeared there was no bad blood between the two. Rocco seemed to be in good spirits in an Instagram photo Madonna posted, smiling big as she hugged him.

"We need [love]!" Madonna captioned the pic.

NEWS: Madonna Shares Throwback Photo to 'Days of Innocence' With Son Rocco Amid Custody Battle

In March, a judge in the U.K. urged Madonna and Ritchie to settle the custody battle out of court. If the couple is unable to do so, future decisions about Rocco's residency will have to be decided in a New York court or through family mediation.

"I renew, one final time, my plea for both parents to seek and to find an amicable resolution to the dispute between them," Justice MacDonald said, according to court docs obtained by ET. "Most importantly, as I observed during the course of the hearing, summer does not last forever. The boy very quickly becomes the man. It would be a very great tragedy for Rocco if any more of the previous and fast receding days of his childhood were to be taken up by this dispute."

Watch the video below for more on Madonna and Ritchie's custody battle over Rocco.