During the country-themed duet, the pop stars grinded on one another in between more traditional box-stomping and line-dancing. Later, in a behind-the-scenes interview embedded below, a bikini-topped, sunglassed Cyrus spoke about her reason for asking one of her idols to join her on the Sunset Glower Studios stage 15.
“I wanted to have someone here that wasn’t the obvious, and something that was different than just being on my record — something that people wouldn’t really expect,” Cyrus said. “Even I didn’t expect Madonna to be necessarily down with doing something like ‘Unplugged’ with me.”
See photos: 19 Best & Worst Moments From the Grammy Awards
Cyrus added that Madonna‘s message and her own are simpatico: “Not being afraid of sexuality and really being who you want to be,” the “Party in the USA” singer explained.
“It doesn’t matter whether you’re gay, straight, whatever — everyone’s trying to figure out what their freedom is,” Cyrus said. “So it’s talking and not being afraid to talk to every different type of human being and make them know that it’s cool to be who you are.”
Cyrus’ “Unplugged” airs Wednesday night at 9 p.m. ET/PT on MTV.
Watch the clip: