The former couple received an ultimatum from an Atlanta courthouse, saying that a judge would have to settle it once and for all if they can't decide on something between themselves.
The singer and his ex-wife showed up to Fulton County Court today, where a magistrate ordered the pair to come up with a temporary custody agreement in private mediation, according to TMZ.
If they don't agree on terms soon the judge will impose a provisional order, deciding how the musician and Tameka will split their time with their kids.
The instructions will also address child support for their offspring Usher Raymond V and Naviyd Ely Raymond.
The parents have been fighting over their children for years.
Although they currently share responsibilities, Tameka wants full custody, claiming that Usher failed to uphold his responsibilities as a parent.
Usher has also denied Tameka's allegations against him of drug use, asking for an increase in the time he is allowed to spend with his children.
> Usher refuses to pay ex-wife's $50k court bill
Watch the video for Usher's 'Climax' below: