Miley Cyrus' MTV Unplugged special that aired this week was certainly made all the more memorable when she was joined by Madonna for a mash-up of "Don't Tell Me" and "We Can't Stop."

Not to mention, a fair amount of bumpin' and grindin' between the two artists.

"She's the kind of person that you can do whatever you want once you're on the stage," Cyrus told E! News' Ken Baker. "It's fun to be onstage with someone who is fearless. You don't have to think, 'Oh, should I do this? or 'Are they not going to like that?' or 'Are their people going to be mad if I do that?'"

Cyrus added, "It's nice when you work with someone who, like myself, doesn't really have anyone that you have to answer to, so it was really good being able to do that with her."

Meanwhile, the 21-year-old pop star is busy preparing for her highly anticipated Bangerz tour, which kicks off on February 14.

"You are starting on Valentine's Day? Was that by design?" asked Baker.

"I did that on purpose," replied Cyrus. "Valentine's Day is usually one of the most depressing days of the year. I'm going to make it a really good one this year."

For both her and her fans, no doubt!

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