For a special New York edition of "Carpool Karaoke," James Corden invited the one and only Madonna into his passenger's seat.

The front seat of an SUV might be a tight space in which to bust out some dance moves, but of course that didn't stop Madonna, who managed to land a few high kicks and even did (her version of) a twerk for the camera.

But the most fascinating thing about Madge's episode wasn't the singing, even though she and James belted out Evita songs at passersby. It was the totally spontaneous anecdote that she once made out with Michael Jackson.

The Queen and King of Pop once locked lips, and James Corden was the first one to find out about it. Who knew?

Madonna also took the opportunity to completely trash James's fashion sense, which he wasn't expecting. But he still accepted her offer to be her bitch for the rest of his life.