Credit: Brenda Chase/Getty Images

It's been over twenty years since Madonna and Sean Penn divorced -- and these days, the once-warring couple are friendly enough to break bread together.

Madonna, 51, and Penn, 49, shared a three-hour, one-on-one dinner at four-star Alain Ducasse restaurant in Manhattan on Thursday; TMZ has video footage documenting their exits from the venue.

In what was the first marriage for them both, the pop superstar and acclaimed actor were married, not-so-peacefully, from 1985 to 1989. (The media dubbed them the "Poison Penns" at the time for their constant fighting; Penn famously assaulted a photographer angling for a picture of Madonna.)

Madonna went on to marry Guy Ritchie in 2000; she gave birth to his son, Rocco, that year, and they later adopted David Banda in Malawi. (Madonna has a daughter from a previous relationship, and has since adopted a daughter, Mercy James, in Malawi.) The entertainer has been dating Brazilian model Jesus Luz, 23, since early 2009.

Penn married Robin Wright Penn in 1996, and they have two children; after a few splits and reconciliations the couple confirmed their impending divorce in 2009.