America Iconic singer Madonna adopted four-year-old twins Esther and Stella from Mchinji, Malawi

Madonna jetted out of Malawi tonight with her adopted twin daughters to start a new life - as she confirmed she was 'overjoyed' to welcome the girls into her family. 

Under the cover of darkness, Madonna and her new daughters boarded a private jet less than 36 hours after a judge ruled she could adopt the twins. 

But it wasn't without difficulty, as papers from the court case reveal the pop star was asked 'uncomfortable questions' about her reasons for further adoption from the south African country. 

Sharing a picture on Instagram as she walked hand-in-hand with the two girls, she said she was grateful to those who made the process possible. 

Madonna wrote: 'I can officially confirm I have completed the process of adopting twin sisters from Malawi and am overjoyed that they are now part of our family.

'I am deeply grateful to all those in Malawi who helped make this possible and I ask the media please to respect our privacy during this transitional time. 

'Thank you also to my friends, family and my very large team for all your support and love!'

The singer was wearing a Dolce and Gabbana dress in the picture, which was once priced at $3000.  

Madonna jetted out of Malawi taking her two new adopted daughters to begin their new life just over 36 hours after a judge in the capital Lilongwe had approved her adoption request. 

According to a court document obtained by the Associated Press, Judge Fiona Mwale was satisfied that Madonna 'is motivated by her desire to offer a home, love, protection and guidance.' 

'The petitioner is a professional performer and I guarded myself against the danger of her merely reciting a well-rehearsed speech by asking her some rather uncomfortable questions to which she gave very candid answers,' Mwale said in her ruling.

Mwale said she didn't challenge Madonna, 58, on Malawi's residency requirements for adoption, saying the country's Supreme Court of Appeal had addressed the issue in the pop star's previous adoption.

'In determining her motives, I questioned the petitioner at length about the impact of her decision which could be construed as robbing Malawi of its most precious resource, its children,' the judge wrote. 

The pop superstar boarded a private jet with twins Stella and Esther under the cover of darkness. 

America Iconic singer Madonna adopted four-year-old twins Esther and Stella from Mchinji, Malawi