The "Material Girl" singer, 57, reportedly went to court on Wednesday after Rocco, 15, refused to board a plane back to New York City. He was visiting his dad, British director Guy Ritchie, in London at the time.
On Wednesday, Manhattan Supreme Court Justice Deborah Kaplan ordered Rocco to return to the States. Guy's attorney, however, pushed back.
"[Rocco] has expressed very clearly that he does not want to return to New York," attorney Eric Buckley told Kaplan in the hearing.
In addition, Kaplan said that Rocco can state if he wants to live with his mom or dad during a future court proceeding.
According to reports, Rocco had been traveling with Madonna during her Rebel Heart tour. (Back in April, he made a cameo during the singer's electric "Bitch I'm Madonna" performance on The Tonight Show Starring Jimmy Fallon.)
Madonna and Guy, 47, divorced in November 2008 after eight years of marriage. They are also parents of 10-year-old son David, who they adopted in 2006. The superstar is also mom of daughters Lourdes, 18 (with ex Carlos Leon), and Mercy, 9.