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    Miley Cyrus Performs in Her Underwear After Missing Costume Change—See the Pic!

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    Miley Cyrus
    Miley Cyrus Twitter

    No costume? No problem!

    Miley Cyrus is certainly no stranger to being scantily clad in concert, but believe it or not, the 21-year-old singer pop star didn't intend to step out in nothing but her unmentionables to perform the song "23" during a show in Milwaukee, Wis., on Sunday evening.

    But the gal did just that, and later took to Twitter to explain exactly what happened.

    "Not a new outfit for 23. I didn't make my quick change and I couldn't not come out for the song so I just had to run out in my undies," Cyrus wrote.

    PHOTOS: Miley Cyrus' naked (and almost naked) pics

    The "Wrecking Ball" songstress continued, "Never happened to me before. But I love my fans as much as they love me! I couldn't miss 23," adding, "Show must go on."

    Two nights earlier, a fully clothed Cyrus also got people talking (again) when she decided to bury her face in dancer Amazon Ashley's ample cleavage during a Bangerz tour stop in Illinois.

    Cyrus tweeted a pic of the intimate interaction, writing, "Love you @amazonashley67," to which Ashley affectionately replied, "I love @MileyCyrus having the #Timeofmylife."

    Along with a shot of Cyrus preparing to smack her butt, of course.

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    PHOTOS: Miley Cyrus' wildest concert pics

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