Madonna and her family visited the orphanage where she adopted one of her Malawian children, David Banda.
About 500 orphans were singing and dancing to welcome the family Wednesday to Mchinji in central Malawi.
The pop star said she was happy to be back, adding: "I'm happy that David is back to see his brothers and sisters."
David, now 8, was accompanied by his sister Mercy, also adopted from Malawi, and their siblings Rocco and Lourdes.
Madonna and her children will visit a pediatrics hospital in Blantyre on Thursday, and another orphanage Friday.
She arrived Monday in Malawi to visit projects she has helped with. Madonna initially planned to build a $15 million 500-bed Raising Malawi Academy for girls, before changing plans to help fund several community schools.