Janet Jackson wrapped up her State of the World tour Sunday night in Atlanta and went out with a bang. The “Control” singer brought out one of hip-hop’s legendary emcees, Missy Elliot

They performed their 2015 track, “BURNITUP!” from Janet’s album, Unbreakable. The crowd was definitely excited to see Missy work it on stage with one of the greatest performers of all time (no pun intended.) Jackson’s tour was originally postponed due to her pregnancy. The 51-year-old superstar started her family and proceeded to give her fans a remarkable tour. Watch the performance below.

Missy shared her gratitude after performing with Jackson via Instagram.

“BURNITUP!” is their second collaboration together. Missy hooked up with Jannet for “Son of a Gun” back in 2001.

It was recently announced that the “Get your Freak on” rapper will be honored at Essence Magazine’s 2018 Black Women in Music Celebration.