Madonna & Rocco Are Back to Normal After Custody Battle

Madonna's back to full-time mommy duty with her beloved Rocco.

She took the 16-year-old out for dinner in London Tuesday night ... a week after the settlement in her drawn-out custody war with Guy Ritchie.

As we reported ... Rocco went back to England for school -- as spelled out in the custody arrangement -- and looks like Madonna's sticking around to get him settled.

Madge took him out to a fancy vegetarian spot in Notting Hill called Farmacy.

How's that for quality mothering? Eat your veggies, Rocco!