Cyrus and Madonna grind together

Miley Cyrus has performed with Madonna for MTV.

The 21-year-old pop star and the 55-year-old Queen of Pop were grinding and grabbing each other as they performed Cyrus's hit We Can't Stop and Madonna's 2000 track Don't Tell Me, during a taping in Hollywood.

The MTV Unplugged special that closes with the duet is set to air later today.

Cyrus is the star of the show, performing a selection of songs from her latest album Bangerz - including Wrecking Ball, her new single Adore You, and the live debut of Drive - during an hour-long acoustic show.