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September 14, 2016 05:20 PM

Madonna and son Rocco are getting back “Into the Groove” following an eight-month-long custody battle.

The pop star and her 16-year-old son hit up the upscale restaurant Farmacy in London’s Notting Hill neighborhood on Tuesday night and “looked totally relaxed and at ease,” an onlooker tells PEOPLE.

The family reunion comes less than a week after court documents showed Madonna and ex-husband Guy Ritchie‘s international squabble over their teenage son had ended. As Ritchie’s lawyer, Peter Bronstein, told the Associated Press, Rocco will remain with his father in the U.K.

The onlooker adds that Rocco was “happily” chatting with his famous mom, while she “was laughing and smiling all the way through the meal,” which they shared with their pal, the museum curator Benjamin Khalili.

Rocco and Madonna
Madonna/Instagram

“There was just a really good vibe. Everyone was smiling and laughing the whole evening. It was a very nice evening for them all,” says the onlooker, who adds the mother-son duo were “really cool and chilled out.”

While Rocco will likely spend more time with his filmmaker father under the custody agreement, “he was just loving life and spending quality time with his mum,” the onlooker says of the teen, who showed his and his mom’s shared love of music when they left the hotspot, rapping lyrics from the British hip-hop group Section Boyz.

The dinner date was just one of Madonna’s stops on her recent trip to London. Earlier in the day, she visited her older son’s new school, where a source says she stayed for nearly an hour.

“She was very friendly with the teachers and was very relaxed,” the source adds.

The dispute between Madonna, 58, and Ritchie, 47, began in late December after the director refused to return their son to his mother in New York City for the holidays, despite an order from aNew York Supreme Court judge.

Following a contentious hearing in March and months of back-and-forth outside of court between the exes’ lawyers and Rocco’s court-appointed attorney, the parties came to an agreement privately. Signs of an agreement first appeared in June, when all parties forwent a scheduled court date, and court documents showed there was a motion pending in the custody dispute.

Though Rocco will predominantly remain in his father’s care, Madonna took to social media last week to address her brood’s enduring bond.

“We are family!” Madonna captioned an Instagram photo with Rocco and her other kids: daughters Lourdes, 19, and Mercy James, 10, and son David Banda, 10. “No matter where we are in the [world].”

And the London reunion is certainly not their first. Madonna and Rocco spent time together throughout the summer, including at the “Living for Love” singer’s birthday party in Cuba last month.

With reporting by PHILIP BOUCHER

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