Mel B and her estranged husband, Stephen Belafonte, have finally settled her domestic violence claims against him.

In March, the Spice Girls member filed for divorce from Belafonte after 10 years of marriage. In the court documents, Mel B detailed how Belafonte physically abused her. At that time, the “America’s Got Talent” judge also fought for sole custody of her three daughters, according to E! News

The court granted Belafonte visitation rights to spend time with their 6-year-old daughter, Madison. But Mel B also requested for a restraining order so that Belafonte could not visit her, her kids and their daughter. She also filed for a restraining order against her former nanny, Lorraine Gilles, who was linked to Belafonte.

On Thursday, Mel B and Belafonte attended a court hearing in Los Angeles, where they reached a private agreement to drop the domestic violence charges. They have also agreed on how to divide some of their assets. Mel B and Belafonte will be heading to trial on Friday.

Meanwhile, the restraining order Mel B filed against Gilles will remain the same unless otherwise decided upon by the judge. The restraining order prevents the nanny from going near the singer, as well as her kids, for the next five years. After filing for divorce, Mel B claimed that Belafonte demanded her to have a threesome with him and their nanny.

According to her, Belafonte also recorded their sexual deeds and threatened to release them if she refused to partake in the threesome. Mel B also accused Gilles of renting a storage locker where all of their tapes are being kept. Gilles fired back at Mel B and said that all of their sexual activities were consensual.

However, Belafonte denied the allegations through his lawyer. In a statement released to E! News, he said, “What matters most to Mr. Belafonte is the safety and well-being of his daughters and step-daughters… In due course, Mr. Belafonte will be filing his response to the outrageous and unfounded allegations made by Ms. Brown, which allegations he vehemently denies.”

Stephen Belafonte, Mel B Stephen Belafonte will no longer be tried over Mel B’s claims that he physically abused her. Pictured: Belafonte, Mel B attend Sprint Sound Sessions at Webster Hall on Apr. 29, 2014 in New York City. Photo: Craig Barritt/Getty Images for Sprint