The two superstars performed together for the first time during the taping of Cyrus' MTV Unplugged special in Hollywood, joining forces on Miley's "We Can't Stop" and Madge's "Don't Tell Me."
Sure enough, there was a fair amount of bumpin' and grinding between the two envelope-pushing artists, with Miley even playfully slapping Madonna's bum a few times during the two takes. (Yes, in a boon for the lucky folks who got to watch, there were two takes!)
Both gals wore Western-inspired ensembles, Madonna in black and white and Miley in blue denim studded with sequins.
"That was pretty f--king cool, you guys," Cyrus said. "It sounds super-lame, but as a pop star it's pretty cool performing with Madonna...Today was one of those days that it was really easy to get out of bed."
Backed by a five-piece band and two backup singers, Cyrus performed 11 songs (most from her new album Bangerz and a cover of Dolly Parton's "Jolene") for an audience of about 220, including Scandal stars Guillermo Diaz and Darby Stanchfield sitting in front row seats.
Before changing into the blue outfit, she opened the show in a red and white checked bodysuit, white cowboy boots, blond bob wig and white cowboy hat.
Miley Cyrus: MTV Unplugged airs tomorrow at 9 p.m. on MTV.
I was the first to tell you yesterday that the 55-year-old icon and the 21-year-old former Hannah Montana star were teaming up for the surprise collaboration.
A source said they were spotted rehearsing on Monday in L.A. (Guess Madge wasn't too tired after performing at the Grammys and taking not one, but two spin classes at CycleHouse over the weekend and Monday.)
Cyrus is no stranger to daring duets. Hello, Robin Thicke!
And Madonna has partnered up with just about everyone in the biz. From kissing Britney Spears at the MTV Video Music Awards to hitting the Grammys stage on Sunday with Macklemore & Ryan Lewis for the night's big group "Same Love" wedding, the Queen of Pop knows how to keep herself relevant.
Now we want to hear from you, will you be tuning into Miley's Unplugged? Chime in below.