Madonna shares sweet snaps of her children on Mother's Day

She's known for her energetic stage performances and raunchy outfits. 

So it's nice to see that Madonna winds down just like the rest of us - with a nice hot bubble bath.

The 55-year-old shared a snap of herself enjoying a soak in the tub on Mothering Sunday, writing: 'The perfect end to a perfect day. #livingforlove'

'The perfect end to a perfect day!' Madonna shared an Instagram snap of herself enjoying a bubble bath on Mother's Day

With her trademark blonde locks twisted up into a topknot, Madonna revealed a glimpse of skin as she rested her head on the side of the bath.

Surrounded by candles and a bunch of white flowers, she seemed to be taking her relaxation time very seriously indeed.

Earlier in the day, she shared Instagram pictures of her four children to celebrate Mother's Day.

The Give Me All Your Luvin' singer posted two photographs of her daughter Mercy and son David, playing on the grass with their dog Olga.

Happy Mother's Day! Madonna shared photographs of her children, Mercy, 7, and David, 8, with their dog Olga

Family fun! The two children played on the grass as their doting mother captured the moment

'Olga says HAPPY-MOTHERS DAY too! #livingforlove,' the singer captioned the snap.

Her hair in braids, Mercy smiled shyly as her brother held up the black and white French Bulldog. 

Wearing a striped T-shirt adorned with pink flowers, a red Kabbalah bracelet was visible at her wrist.

Madonna also shared a black and white flashback photo of herself with 13-year-old son Rocco, who is her son from her marriage to British film director Guy Ritchie.  

'One Lucky Mother!' Madonna also shared a flashback photo of herself with 13-year-old son Rocco

Star in the making: Madonna shared a beautiful portrait of Mercy as she celebrated her family

In another portrait, beautiful Mercy stares from the frame, dressed in a shimmering blue top. 

On Saturday, the Queen Of Pop posted another flashback, this time of her daughter Lourdes.

Also known as Lola, the girl - who is now 17 - appears to be at the beach and wearing a red and gold headscarf. 

Yet another snap shows Madonna and David posing together in a touching portrait.

Despite her demanding career, Madonna maintains a close relationship with her children and is regularly seen accompanying her whole brood to Kabbalah services in New York.

They grow up so fast!On Saturday the Queen Of Pop posted a flashback picture of her daughter Lourdes, known as Lola

He'll be a heart breaker: Madonna and David posed together in a touching portrait