Invision/AP 1 / 5

All in the family! Madonna may have split from ex Carlos Leon more than 15 years ago, but she met him for dinner with their daughter, Lourdes, just this week. 

The trio reunited in New York City on Thursday, June 19, dining at Manhattan's trendy downtown lounge and restaurant Beauty & Essex. Madonna, 55, arrived in a NYC-chic look, an onlooker tells Us, wearing a black top, black pants and horn-rimmed glasses. 

PHOTOS: Madge's wildest looks

Madonna's eldest child, Lourdes, 17, who graduates from LaGuardia High School this month, kept it casual in a T-shirt and shorts and slung a backpack over her shoulder. Hunky trainer and actor Leon, 47, rocked a silver pendant on a chain over a blue T-shirt with jeans. 

Leon and Madonna were together in the mid-1990s and split in 1997, after the October 1996 birth of Lourdes. 

PHOTOS: Madonna's beauty evolution

An observer tells Us that the modern family "looked like they were having a great time," and spent the evening "laughing, joking, and enjoying each other's company." 

During their Beauty & Essex feast, the trio dined on basil pesto ravioli, the restaurant's take on a New York pretzel, salt & vinegar fries, kale and apple salad, and a crispy eggplant pizzetta. 

PHOTOS: Madonna and Lourdes

One item was purposefully absent from their menu, however. An onlooker at the restaurant spills to Us that the Material Girl was asked before they were served if she had any allergies or dietary restrictions. As only she could, Madonna reportedly answered simply, "Ignorance."