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

    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.

    PHOTOS: Miley Cyrus' wildest concert pics

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