The "Wrecking Ball" singer taped her MTV Unplugged performance, which was done in a Country & Western hoedown theme, on Tuesday night, and following her set of stripped-down versions of songs from her latest album, "Bangers," the 21-year-old welcomed the Queen of Pop, 55, to the stage.
The duo, dressed in denim and rhinestones and 10-gallon hats, grinded and gyrated during a mashup of Miley's "We Can't Stop" and Madonna's 2000 hit "Don't Tell Me."
"That was pretty f***ing cool, you guys," Miley told the crowd after. "It was one of those days that was pretty easy to get out of bed. I get to perform with Madonna in bedazzled cowboy boots. I can't really complain about anything."
Check out "Miley Cyrus: MTV Unplugged" tonight at 9 p.m. (EST) on MTV.