Madonna is still as controversial as ever, even after all these years. The pop icon showed up at an “MTV Unplugged” performance this week to collaborate with Miley Cyrus, who is controversial in her own right, and the crowd went wild.

Madge crept into the audience in order to pop up while Cyrus was singing a cover of “Don’t Tell Me” and joined in, much to the appreciation of the crowd. The duo met onstage and did a strange little bump-and-grind number, with Miley wearing torn, sequined pajamas and a cowboy hat. She was backed up by quite a band, which shows how different today’s “Unplugged” numbers can be from those in the early years.

“That was pretty f—-ing cool, you guys,” Cyrus said after the duet. “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, put on a bikini and sing with Madonna.”

The pair also performed “We Can’t Stop” during the show, which was taped Tuesday and aired on Wednesday.

Cyrus has compared her MTV VMAs performance–which garnered a lot of attention after she sexed it up onstage with Robin Thicke–to Madonna’s early days on the network.

“How many times have we seen this play out in pop music? Madonna’s done it, Britney’s done it. Every VMA performance… anyone that performs, that’s what you’re looking for. You’re wanting to make history,” she said.

Image via Wikimedia Commons