Janet Jackson taking her talents around North America is pretty legendary but adding Missy Elliott to the equation takes it up a notch.

On Sunday night (Dec. 18), Ms. Jackson, if you’re nasty, surprised fans with Missy Elliot on the final stop of her State Of World Tour in Atlanta. During the epic and action-packed performance, Elliot joined Jackson on stage for “Burnitup,” backed by roars from the crowd. The duo took the stage and wowed the audience with their natural chemistry.

Elliot took to Twitter to shout out to the megastar, saying: “You still AMAZE ME with your performances! You are 4ever LEGENDARY.” After postponing the Unbreakable World tour in 2016 because of her pregnancy, Janet Jackson came through with the 56-city State of The World Tour to follow through.

Check out a short clip below.