Mick Jagger made a surprise appearance on stage with U2 on Friday during the second night of the Rock and Roll Hall of Fame concerts in New York City.

The first show on Thursday night saw acts including Stevie Wonder, Bruce Springsteen, Jeff Beck, Sting and James Taylor take to the stage at Madison Square Garden.

Friday's show opened with Jerry Lee Lewis singing Great Balls of Fire, and went on to host a number of big name collaborations including Jeff Beck with Sting and U2 with the Black Eyed Peas.

The night built up to a climatic finale with Jagger, Fergie and Will.i.am all joining U2 to sing Rolling Stones hit Gimme Shelter, as Jagger entertained the crowd with his trademark dance moves.

Jagger stayed on stage to help U2 perform Stuck in a Moment You Can't Get Out Of, before the Irish rockers closed the show with their hit Beautiful Day.

Earlier in the night, heavy metal rockers Metallica took the stage with Lou Reed for two songs, before Ozzy Osbourne joined them to belt out Iron Man and Paranoid.

Aretha Franklin also performed a number of her hits, teaming up with Annie Lennox to sing Chain of Fools.

Image © Janet Mayer / PR Photos

(This news article provided by World Entertainment News Network)