Relaxed Stephen Belafonte makes supervised visit with daughter Madison, five, as bitter divorce from Mel B drags on

Stephen Belafonte drove himself to a supervised visit with his daughter Madison, five, on Tuesday in Los Angeles.

The 41-year-old looked relaxed and in good spirits as he carried a neon orange cooler bag with him into the meeting.

He has been granted permission to see his child with former Spice Girl Mel B as long as it is heavily supervised as his bitter divorce from the celebrity drags on.

Court rules: Stephen Belafonte looked relaxed as he carried a neon orange cooler bag on his way to a supervised visit with his daughter Madison, five, in LA on Tuesday

Court rules: Stephen Belafonte looked relaxed as he carried a neon orange cooler bag on his way to a supervised visit with his daughter Madison, five, in LA on Tuesday

Belafonte wore his preferred ensemble of black Nike sweatpants, black sneakers and black t-shirt.

He pulled up to the venue in a black luxury SUV and was seen smiling as he chatted on his phone as he walked.

It's been previously reported he is allowed two four-hour sessions with Madison a week after his estranged wife obtained a restraining order against him.

Drove himself: The film producer, 41, was granted permission to see his daughter with estranged wife Mel B for two four-hour sessions a week as the couple's bitter divorce drags on

Drove himself: The film producer, 41, was granted permission to see his daughter with estranged wife Mel B for two four-hour sessions a week as the couple's bitter divorce drags on

Good mood: Belafonte wore his preferred ensemble of black Nike sweatpants, black sneakers and black t-shirt and was seen laughing as he chatted away on his cell phone as he walked

Good mood: Belafonte wore his preferred ensemble of black Nike sweatpants, black sneakers and black t-shirt and was seen laughing as he chatted away on his cell phone as he walked

At a court hearing in late April, a judge in LA ruled he can see Madison but only in the confines of a counselling center with a court monitor present.

The film producer was not granted permission to re-establish contact with the America's Got Talent judge's daughter Angel, who was born three months before their wedding - but whose father is Eddie Murphy.

Meanwhile, Mel has also secured a five-year restraining order against the couple's former nanny Lorraine Gilles.

The 41-year-old, who claims Gilles had an affair with her husband and Stephen and got pregnant by him, filed a declaration in court saying the nanny had 'harassed' her, according to a report by TMZ . 

Gilles, 26, has alleged she had regular sexual encounters with Melanie Brown and Belafonte over a seven-year period after being hired to care for their children. 

Protective mom: The former Spice Girl had opposed giving Belafonte visitation rights with daughter Madison (L) and Angel (R), her daughter with Eddie Murphy - pictured in 2016

Protective mom: The former Spice Girl had opposed giving Belafonte visitation rights with daughter Madison (L) and Angel (R), her daughter with Eddie Murphy - pictured in 2016

Ruling: A judge ruled that would be granted heavily supervised visitation rights with his child

Split: Mel B has been granted a temporary restraining order against Belafonte over claims of domestic abuse. The pair wed in 2007

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Stephen Belafonte makes supervised visit with daughter

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