Madonna looks after her kids on the beach from balcony... as she is embroiled in bitter custody battle in middle of rough few weeks

She is in the middle of a nasty custody battle with former husband Guy Ritchie over their son Rocco in addition to being blasted by fans over a few disastrous concert dates.

And Madonna seems to be trying to bond with her younger children while keeping a relatively low profile.

The 57-year-old singer was spotted peering from a balcony at her hotel in Miami while keeping a close eye on her 10-year-old son and daughter on the beach.

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Watchful eye: Madonna was spotted looking at her children from the balcony of her Miami hotel on Saturday

Good times: Her 10-year-old children David (pictured far left) and Mercy (far right) enjoyed some playtime on the beach with their friends

Her children David and Mercy were spotted playing with a few of their friends on the sand as their pop star mother tried going incognito on the terrace.

Madonna sported a black jacket over a matching hoodie as she attempted to go unnoticed with the hood up while sporting a pair of large aviator shades.

Her long, wavy blonde locks were sticking out from under the sweater as they were worn down while she went make-up free.

See pictures and updates from Madonna looks after her kids on the beach from balcony

Going incognito: The 57-year-old singer tried going incognito while standing on the terrace

Shy? She sported a black jacket over a matching hoodie with the hood up and a pair of large aviator shades

As her daughter Mercy was celebrating her 10th birthday, she shared a series of messages celebrating her special day.

The happy messages in honour of her youngest child were a rare moment of celebration for Madonna, who has been sharing plenty of cryptic Instagram posts in recent weeks.

Indeed just on Friday the singer shared another thinly-veiled message as she posed for a sad-looking selfie alongside the caption: 'Moving Forward.................nowhere else to go.'

Touched: As she celebrated daughter Mercy's birthday on Saturday, Madonna also thanked their fans for pledging her support during a troubled time in her personal life

Tender message: The singer wrote 'No Mercy!! No Joy!!' as she paid tribute to her adopted child

Happy family: One picture showed Mercy and her brother David, and was in stark contrast to Madonna's very public custody dispute with her ex husband Guy Ritchie

This came after furious fans blasted Madonna and demanded refunds after paying hundreds of dollars to see the singer, who took to the stage in Atlanta on Wednesday hours late for the third time in a week.

The star didn't start her show at the Philips Arena in Atlanta until nearly 11pm, angering many fans who were forced to leave early to catch the last train home and make it to work the following morning.

This followed Madonna having to fiercely deny she was drunk on stage after a very late arrival in Louisville, Kentucky, on Saturday night and again, arriving more than two hours late in Nashville on Monday. 

'Thanks so much for this': Madonna reposted this declaration of support from her fans

Carrying on: Madonna posted an old picture and wrote 'coming to get you Miami'

Madonna also allegedly called her film director ex the C-word while onstage in Nashville, Tennessee on Monday.

The pop star is said to have uttered the swearword after a fan proposed marriage to her while she was on stage. She reportedly said: 'I’m looking for a husband, not a c***. I already married a c***.'

While she could have been referring to her first husband, Sean Penn, it's considered unlikely given her ongoing battle with Guy.

Rocco has been staying with his 47-year-old film director dad in London, with his parents set to go to court to reach an agreement over his living arrangements, according to reports.

Teary-eyed: Madonna posed for a sad-looking selfie on Friday alongside the caption: 'Moving Forward.................nowhere else to go,' as her custody battle over son Rocco, 15, continues

Late again: The singer didn't take the stage at the Philips Arena in Atlanta until nearly 11pm on Wednesday night. Pictured, a fan tweeted a shot of the empty stage showing many had already left before the show started

Rip-off: Furious fans demanded refunds after paying hundreds of dollars to see the singer, but being forced to leave early as it was a weeknight

The battle began in December when the teenager refused to return to New York despite a Manhattan judge's court order.

Madonna appeared in court in New York on December 23 after Rocco refused to come home for the holidays, and the judge ordered him to return to his mother so she and Guy could work out custody.

However, Rocco has so far refused to return to the US. Madonna shared a thinly-veiled message about the drama on social media earlier this month, writing.

'It's possible to be an entertainer and a good mother!!! Too bad we don't live in a society where many encourage strong independent single working moms! 

Raging on: Rocco has been staying with his 47-year-old film director dad in London, with his parents set to go to court to reach an agreement over his living arrangements, according to reports

Piers Morgan took to Twitter to call Madonna out for 'treating fans like dirt' after her latest late arrival

Wearing her heart on her sleeve: Madonna shared a thinly-veiled message about the drama on social media earlier this month, writing. 'It's possible to be an entertainer and a good mother!!!'