Madonna finally got what she wanted ... her son Rocco back in New York City and she's wasting no time getting in some QT.
Madge took Rocco, older sis Lourdes and some pals out Tuesday to the off-Broadway show "Sleep No More." They all left wearing masks -- it's part of the show -- but their cover was already blown.
Madonna and Guy Ritchie made peace a couple months ago in their custody war over Rocco -- and it looks like he's out of school in the U.K. now, and ready to hang with Mom.
Happy ending for everyone.