NEW YORK - It wasn't just a victory. It was finally a moment of relief for Michael Jackson's mother, Katherine, 79, when she won custody of her three grandchildren, Prince, 12, Paris, 11 and Blanket, 7.

And helping make this possible was New York lawyer L. Londell McMillan, whose longtime ties to the Jackson family are as personal as they are professional, giving him a uniquely intimate perspective on Katherine's ordeal.

"After last Monday, it was like a load was taken off of her, and she's kicking her heels a little bit," McMillan tells PEOPLE. "She's got her grandchildren,” they're set. She's starting to rock and roll. She's getting her grandma swagger back."

The kids have been her saving grace amidst her son's tragedy. "It's been very painful for her," says McMillan. "But she has been busy trying to make sure that these children will be provided for."

Bonding with Jacksons
McMillan, who got his law degree at New York University after majoring in collective bargaining at Cornell, began working with Michael about four years ago, when Jackson was faced with a breach of contract lawsuit filed by the Prince of Bahrain. "My relationship with Michael was one of trust," he explains.

He also represented Katherine in a couple matters, and built a connection with her. "I lost my mom almost 20 years ago, but [she and Katherine] were similar in being selfless, loving to laugh and being the most loyal person in the room," says McMillan. "Katherine is a wonderful lady."

His other credentials include helping Michael refinance his Beatles catalog, liberating the artist known as Prince from a Warner Bros. recording contract he was famously unhappy with, and founding the non-profit Artist Empowerment Coalition.

As for Michael's children, the lawyer says: "They're in a great spot. They love their grandma. She is a very vibrant and youthful 79-year-old woman. Mrs. Jackson will be the matriarch of love that she has always been for this family."From:www.msnbc.msn.com