Rocco is back in NYC!

Madonna and Guy Ritchie's 15-year-old son was spotted with friends in the Big Apple on Tuesday, May 31 for the first time following his estranged parents' custody battle.

According to People, Madonna, 57, and Guy, 47, were expected in court on Wednesday, June 1 for a hearing to decide if Rocco will live in NYC with his mother or reside in London with his father. But, the case was subsequently disposed as Madonna and Guy seemingly reached a decision out of court.

View this post on Instagram

We Need! ๐Ÿ’œ

A post shared by Madonna (@madonna) on

Reports first surfaced earlier this year that the former couple were involved in a messy custody disagreement over Rocco. While the teen has allegedly been living with his father in London, a judge recently ordered the teen โ€” who had expressed interest in staying with Guy abroad โ€” to return to NYC to be with his famous mother.

RELATED: We Never Thought Madonna Would Do THIS Amid Her Custody Battle โ€” Find Out Here!

Madonna and Guy were previously married from 2000 until 2008. They welcomed Rocco in 2000 and adopted son David, 10, together in 2005. Madonna is also a mom to a 19-year-old daughter, Lourdes, with former partner Carlos Leon and to a daughter Mercy, 10, whom she adopted as a single parent in 2006. Guy additionally has three kids โ€” Rafael, 4, Rivka, 3, and Levi, 1 โ€” with his wife, Jacqui Ainsley, 34.