The fight no one thought would ever end is over after both Britney Spears and Kevin Federline reached and signed off on a settlement in their custody case, People.com reported.

According to K-Fed's attorney, Mark Vincent Kaplan, the estranged couple agreed that his client will retain sole legal and physical custody of the their two children, Sean Preston and Jayden James while Britney Spears will continue to have visitation rights which may increase over time. Currently, the singer has monitored visitations with her sons twice a week with one overnight. The court is yet to approve their agreement which will be presented to a judge on Friday.

"Kevin is ecstatic and the boys are thriving," Kaplan told OK! magazine.

However, even though these are good news for Federline, Kaplan insisted that this wasn't exactly what his client had in mind.

"Kevins was not [out] to get custody. Kevins goal was to set up some kind of template so the mother of his children can co-parent," Kaplan was quoted by E!Online as saying.

"He said I need to have Britney to be involved in the coparenting of the kids but I need there to be a structure."

"Nobody could have anticipated the terms of events that have occurred....This was a two-year journey that will be halted at a point that is good for these children. Custody is always modifiable. If there is a final order, it means there is nothing to try," he added.

The pop singer lost custody of her boys in October last year, due to erratic behavior and some legal trouble, and was granted visitation privileges, which were substantially reduced following her two hospitalizations in psychiatric ward earlier this year. Since then she has been under her father's legal control, which lasts until July 31, when a court will decide whether to extend his powers.

Britney Spears and Kevin Federline tied the knot in September 2004. After two years of marriage, Britney filed for divorce citing "irreconcilable differences" in November 2006.