Madonna Addresses Custody Settlement on Instagram as Son Rocco Remains with Guy Ritchie in London

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The 'Rebel Heart' singer took to Instagram to express her love for her son, who is set to stay with his father in the U.K. for the time being.

A day after Madonna settled her contentious custody battle with ex-husband Guy Ritchie, the Rebel Heart singer took to Instagram to express her feelings.

The protracted legal dispute over the former couple's 16-year-old son, Rocco, ended with an out-of-court settlement, which allowed Rocco to continue living with his father in England.

RELATED: Madonna and Guy Ritchie Settle Custody Battle Over Son Rocco

Madonna posted a throwback photo of herself, some friends and her four kids -- 19-year-old Lourdes, Rocco, and David and Mercy James, both 10.

"We are family! no matter where we are in the [world]," the 58-year-old pop icon captioned the family photo.

WATCH: Madonna and Rocco Ritchie Pose for Bizarre Magazine Spread Following Reconciliation

In March, a U.K. judge ruled that the dispute over Rocco's residency would be decided in a New York court or through family mediation, stating, "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."

Rocco had been living with the Sherlock Holmes director since late last year while his parents fought over his custody and living arrangements.

WATCH: Hollywood's Most Nuclear Divorces

In June, Rocco and his mom reunited in NYC and have appeared to be on good terms since.

For more on Madonna and Ritchie's heated year-long custody battle, check out the video below.