Rocco Ritchie and Madonna perform on stage during her "MDNA" tour at Ramat Gan Stadium on May 31, 2012 in Tel Aviv, Israel. Credit: Kevin Mazur/WireImage

Only when she’s dancing can she feel this free! Madonna celebrated her 58th birthday by breaking it down with her 16-year-old son, Rocco, while vacationing in Cuba.

The Queen of Pop took to Instagram on Tuesday, August 16, to share a heartwarming video of herself and the teen getting their groove on. In the clip, the mother-son duo shimmy, shake and spin each other to the sounds of traditional Cuban music while partying at a Havana restaurant. In the background, you can see Madonna’s son, David, 10, busting a move as well.

“Family Mambo Cuban Style!,” the “Living for Love” singer captioned the clip. “💃🏻🎉🎉🎉🎉🍾🎈🎈🎂🎂🎂💝🍾🍾🇨🇺🇨🇺🇨🇺.”

Prior to their adorable dance routine, the pair suffered a bump in their relationship because of a custody dispute with Rocco’s father and Madge’s ex-husband, Guy Ritchie.

Rocco previously refused to join Madonna for the holidays in the United States after visiting his dad in London last December. A court ruling placed him in his mother’s care in New York City in June. Since then, he and the superstar seem to have become closer than ever.

In July, Rocco and his big sister Lourdes (whom Madonna shares with ex Carlos Leon) and their mother journeyed to Malawi with the “Vogue” songstress’ younger son, David. During their trip, they witnessed a ceremony where David — born in the African nation — was given his tribal name.

“Oh Africa you have filled our hearts with joy and appreciation!” the Grammy winner — who is also mom to daughter Mercy, 10, who was born in Malawi — enthused via Instagram at the time.

Days before Madonna rang in the big 5-8, Rocco turned 16 on Thursday, August 11. The Hollywood scion’s proud mom paid tribute to him with a slew of sweet and sentimental social media posts.

"Happy Birthday to my first born son," she captioned one shot of Rocco hanging out with his adoptive brother David, 10. "A true warrior with a beautiful heart. Let the sun shine!"

In another ‘gram, which shows a younger Rocco photoshopped next to an older version of himself, the legendary entertainer wrote, “Happy Birthday Wild Child. Time waits for no one.”

Once my baby always my baby. Happy Sweet 16! 🙏🏻🎉🎉🎉🎂😘😘😘💐💐🦁

A photo posted by Madonna (@madonna) on

In a subsequent — and rather emotional — post, the Material Girl shared a black-and-white pic of herself holding a toddler-aged Rocco: “Once my baby always my baby. Happy Sweet 16! 🙏🏻🎉🎉🎉🎂😘😘😘💐💐🦁.”

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