Britney Spears and Kevin Federline’s tussle over custody ended on Friday when custody settlement was signed by a judge, finally ending their almost two year battle.

According to the settlement reached last week, Federline was allowed to retain the sole custody of Preston, 2 1/2, and Jayden, 1 ½.Spears, who is currently allowed two visits and one overnight per week, will get an added sleepover by year's end, except for any setbacks.

“She’s thrilled,” the pop star's attorney Laura Wasser said. “To have more time with her kids has been her motivation to get well. In light of her outstanding conservatorship, she couldn't have asked for anything more.”

Spears also agreed to pay Federline $20,000 (a $5,000 increase) as monthly child support and pay off his $250,000 legal tab.

“This has been a long ordeal [for Kevin] and for it to be over makes him very happy,” said Federline’s lawyer, Mark Vincent Kaplan.

Spears got married to Federline 2004. They split up in late 2006 and their divorce was finalized last year. Spears lost custody of the boys in January, after two brief hospitalizations for psychiatric evaluation.