Ciara is grateful to have her family join her on tour! At the Baby2Baby volunteer session in New York City in support of its new initiative to combat the maternal health crisis on Tuesday, Sept. 10, the “Level Up” singer opens up to PEOPLE about her experience being joined by family on the road this summer.

The 38-year-old entertainer explains that she was on the Out of This World — The Missy Elliott Experience Tour with Missy Elliott, Busta Rhymes and Timbaland, and she “had the time of [her] life.” But she notes that she “luckily got to have a little bit of Russ [Wilson] on the road with us.”

Although football preseason was underway, she explains that the Pittsburgh Steelers quarterback briefly joined her and their kids —  Sienna Princess, 7, Win Harrison, 4, and Amora Princess, 9 months, and Future Zahir, 10, who she shares with ex-fiancé, rapper Future. “My kids traveled with me, and I couldn’t have done it any other way.”

“They were like little precious babies of a tour having so much fun with Auntie, Missy, and Uncle Busta,” she says. “I mean, it’s just the energy was just incredible.”

“So I can say the first summer with four that wasn’t too bad,” she says now after welcoming Amora Princess in December 2023.

She confesses to PEOPLE that when she “got off the road,” she was “thinking about all the things [she] had to check off for school” and that they “had a school shopping moment.”

“It was the most amazing time with my babies,” she tells PEOPLE. “I was like, ‘This is what life is about.’ So, the little joys in life. I’m so grateful.”

She details how much gratitude she has for moments where she can “go from the crazy schedule” of a tour and “then to have these humbling moments where it’s just [her] being a mom.”

“Every day is nonstop, but it’s chaotic, but I wouldn’t have it any other way,” she says. “So first summer [with] four is crazy, but we’re doing all right. We’re making it happen.”

While being a mom of four is a full-time job within itself, Ciara tells PEOPLE it’s important for her to make time to participate in Baby2Baby’s initiative to provide children living in poverty with diapers, formula, clothing, and other basic necessities.

“Being a mom, you know, I have a very big heart and passion and strong desire to care and help other moms around the world, because this really is not an easy job,” she shares. “I mean, like, seriously, starting with just being a mom alone, that’s a job within itself.”

She continues, “I really love the beautiful work that Baby2Baby does. And you know, ever since Roy and Kelly [Rowland] asked me to be a part of the family and a team, I was onboard so easily, and it’s been so amazing to see the growth and how many lives have been impacted along the journey at Baby2Baby.”