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August 17, 2016 10:20 AM

Madonna celebrated her 58th birthday on Tuesday by dancing with one special partner – her 16-year-old son Rocco!

The “Material Girl” is currently in the “hot streets” of Havana, Cuba, where her birthday celebrations included a “family mambo, Cuban style.”

She shared video of the party on Instagram Tuesday night. The black-and-white clip shows Madonna and Rocco hand-in-hand, each taking turns spinning the other around in the packed restaurant while a happy crowd claps in time to the music. Mother and son are all smiles, embracing at the end in a big hug.

Now that Madonna and Rocco have settled their differences following a custody dispute also involving father Guy Ritchie, the two seem to be inseparable.

After a happy family reunion in London, they went on a family vacation to Africa to raise awareness for charity.

Madonna even took to social media last week to celebrate Rocco’s birthday.

“Happy Birthday to my first born son,” she captioned one shot of Rocco with David. “A true warrior with a beautiful heart. Let the sun shine!”

“Happy Birthday Wild Child,” she wrote in another adorable photo, showing a young and older Rocco photoshopped together in the same shot. “Time waits for no one.”

Perhaps the most emotional of all her birthday tributes was a throwback photo she posted of herself holding a toddler-aged Rocco.

“Once my baby always my baby,” she said. “Happy Sweet 16!”

RELATED VIDEO: One Big Family! Madonna Posts Happy Shot of Son Rocco and Daughter Lourdes During Dinner Date in London

While they each had birthdays to celebrate during their dance together Tuesday night, fans all over the world – including Demi Lovato, Victoria Justice and Paris Hilton – paid tribute to the birthday girl using Snapchat’s custom Madonna filter.

“Thank you to all my fans and everyone who is in my gang for all your birthday wishes!!!!” Madonna said later, on Instagram. “You know how to make a girl feel special!”

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