Finally, a happy mommy moment for Madonna.

After a month of making headlines (and reportedly "crying constantly") as she battles ex Guy Ritchie and son Rocco Ritchie over the 15-year-old's ongoing desire to live with his dad instead of her, Madonna enjoyed a happy moment with her youngest child, daughter Mercy James, on Jan. 23.

At the end of her Rebel Heart Tour stop in Miami on Saturday night, the pop star, 57, brought her smiling little girl -- who turned 10 on Jan. 22 -- on stage where she presented her with a candle-topped pink cupcake as the audience serenaded her with "Happy Birthday."

Madonna shared a sweet Instagram post of the moment early the next day. "Make a Wish Mercy JamesπŸ™πŸ»πŸŽ‰πŸŒπŸ‘»πŸ’•. ❀️#rebelheartour," Madge captioned the snapshot.

Make a Wish Mercy JamesπŸ™πŸ»πŸŽ‰πŸŒπŸ‘»πŸ’•. ❀️#rebelheartour

A photo posted by Madonna (@madonna) on

The very public celebration came one day after Madonna peppered her Instagram feed with old photos of Mercy, whom she adopted from Malawi in 2009.

"Happy Birthday to my Beautiful Mercy James! πŸŽ‰πŸŽ‰πŸŽ‰βŒβ­•οΈβŒβ­•οΈπŸ’˜πŸ’˜πŸ’˜πŸ’‹. ❀️#rebelheart," Madonna wrote alongside a throwback photo of herself hugging Mercy when she was small.

Mercy's big brother Rocco is believed to have missed her birthday as he remains in England with his director father against a judge's orders. Rocco is reportedly fed up with his mother's "controlling ways."

Madonna, Guy and Rocco's next custody hearing is set for Feb. 3.