Every moment from Madonna's inspirational trip to Malawi with her four kids

After a few rocky months tied up in a custody battle with her ex-husband Guy Ritchie over her 15-year-old son Rocco, Madonna are on better terms. After spending some quality time together in NYC and London, the duo jetted to Malawi with her other children Lourdes, 19, David, ten, and Mercy, ten. The singer and her children traveled to the heart of Africa for an inspiring trip to support the new initiative Shining Hope for Communities. The rock star family visited students, orphanages, and even David's place of birth. Here is a look at all of the photos from Madonna's inspiring family trip to Malawi. Photo: Instagram/@madonna

"Oh Africa you have filled our hearts with joy and appreciation!" the Like A Virgin singer captioned this picture of herself and Rocco as the trip came to an end.Photo: Instagram/@madonna

Mercy, David Banda and Madonna called upon her 7.5 million Instagram followers to help them come up with a new name for a pediatric surgery hospital being built in Malawi.Photo: Instagram/@madonna

Mercy was all smiles and she and her mother traveled through the African desert. "Happiness is Contagious in the Warm Heart of Africa," wrote the star.Photo: Instagram/@madonna

Madonna posed for a portrait with President Peter Mutharika after discussing "food security, education for girls and staffing for our new Pediatric hospital in Blantyre with Nurses And Clinical Officers." Photo: Instagram/@madonna

Madonna captioned this image with her son David, "Love is All we Need." Photo: Instagram/@madonna

Eight years later, Madonna checked in on students Mavuto, Sinode and Joyce from her film I Am Because We Are. Photo: Instagram/@madonna

Rocco took a tour of the new pediatric facility in Malawi.Photo: Instagram/@madonna

Madonna took the time to speak with one of her heroes, Dr. Eric Borgstein in the new pediatric hospital in Blantyre, which she hopes will be open in 2017. The hospital will specialize in surgery and intensive care. Photo: Instagram/@madonna

Madonna's ten-year-old son David received his Ngoni tribal name in his ancestral village. Photo: Instagram/@madonna

Madonna captioned this moment with Rocco and her son David, "Discussing Responsibility. One must live up to their name!" Photo: Instagram/@madonna

Mercy, took the time to make some new friends at the Home of Hope orphanage in Michinji.Photo: Instagram/@madonna

In this image from her trip, Madonna took the time to address the world with the caption, "We have forgotten our humanity.. that we are on this road together. Each of us sparks of the same soul.. And if this ship goes down we all go down together. pray for peace in the World." Photo: Instagram/@madonna

Rocco spent some time with children at the Home of Hope orphanage in Michinji.Photo: Instagram/@madonna

The heart of Africa! Madonna received a "warm welcome" upon her arrival to an orphanage in Michingi, Malawi. Photo: Instagram/@madonna

The pop star captioned this image of the scenery, "I'll take the Road Less Travelled by! Oh Africa!"Photo: Instagram/@madonna

Madonna captured a photo of the women of the Samburu tribe in Kenya. Photo: Instagram/@madonna

Madonna captioned this photo of her son Rocco, "Portrait of an Artist as a Young Man in Kibera. Painting a wall at an all girls Primary school." Photo: Getty Images

Lourdes spent some time painting the wall at an all girls primary school in Kibera with a young student named Beyonce. Photo: Instagram/@madonna

Girl power! Madonna met with the first lady of Kenya Her Excellency Margaret Kenyatta. The two discussed the Beyond Zero Campaign and ways to eliminate child and maternal mortality in Kenya. Photo: Instagram/@madonna

Madonna walked around a playground for students in Kibera with the founder of Shining Hope for Communities, Kennedy. The organization provides goods and services to school girls in the country. Photo: Instagram/@madonna

Madonna honored the Samburu tribe in the Rift valley with a photo saying, "Such an honor to stand next to these beautiful people." Photo: Instagram/@madonna

Madonna captured a humbling moment with her children and Mama Sofie. Photo: Instagram/@madonna

Madonna shared a picture of amazing artwork done in Kibera. Photo: Instagram/@madonna

Madonna paid a visit to a lady named Sophie, who is raising her 14 children in Kibera after her husband was killed in war. Photo: Instagram/@madonna