Madonna and her children have been welcomed with song and dance from hundreds of orphans during their visit to the orphanage where the pop star adopted one of her Malawian children.
Madonna said she was pleased to be back at the Home of Hope orphanage, where she adopted David Banda, in the western district of Mchinji near the border with Zambia.
She said: "I'm happy that David is back to see his brothers and sisters."
David, now eight, was accompanied by his sister Mercy James, who is also eight and adopted from Malawi, and their siblings Rocco and Lourdes.
Madonna adopted David in 2006. Today he was taken to his former cot, which has been preserved in his memory.
It was not known if the family would also visit the Kondanani Children's Village, where Madonna adopted Mercy in 2009 after a protracted court battle.
The singer arrived in Malawi on Monday to visit projects she has helped with.
Madonna initially planned to build a 15 million US dollar (£12.7 million) 500-bed Raising Malawi Academy for girls, before changing plans to help fund several community schools.