Gordon scheduled another hearing for Feb. 19.
Spears went to the courthouse briefly during the afternoon but never went inside, and she left amid a swarm of paparazzi.
The hearing in family law court was held behind closed doors after reporters were ordered to leave.
Court spokesman Allan Parachini said those who testified were two Los Angeles police officers; Paula Strong, the court-appointed monitor who was present for the visit at Spears' home; Lisa Hacker, a parenting coach who has been working with Spears and Federline; and Lonnie Jones, the bodyguard who went to the home to get the children.
Parachini did not reveal what the witnesses said during their testimony.
Federline's attorney, Mark Vincent Kaplan, told reporters that after hearing all the testimony the commissioner decided to leave his Jan. 4 emergency order in place.
"The word victory is not something Mr. Federline or his counsel would ascribe to this. There is no joy. This is a grave situation for all," Kaplan said.
Although Federline thought the ruling was correct, Kaplan said, "his goal, his hope for the future is at some point he will be able to parent the children with the participation of their mother."
Kaplan would not answer questions.
