Elton John took the stage with Miley Cyrus at tonight's Grammy Awards, only a few days after announcing his retirement from touring.

John began playing "Tiny Dancer" – originally found on his fourth album, 1971's Madman Across the Water – all alone on the Madison Square Garden stage. He was then joined by Cyrus for the second verse, before a crowd that included John's longtime writing partner Bernie Taupin, who co-composed "Tiny Dancer."

Taupin was earlier announced as a recipient of the Recording Academy President's Merit Award. Cyrus has a lengthy history of friendship with John, serving as a celebrity supporter of the Elton John AIDS Foundation.

Tonight's live telecast began with a collabration by U2 and multi-Grammy winner Kendrick Lamar. Pink, Lady Gaga, Little Big Town, Bruno Mars and Daddy Yankee have already performed. The broadcast, hosted by James Corden, continues on CBS.

Cyrus will also appear at Elton John: I'm Still Standing, a tribute concert set for Tuesday at the Theater at Madison Square Garden. There, John is set to receive the Recording Academy President's Merit Award. The concert will be filmed for broadcast later in 2018, also on CBS.

John subsequently plans to mount a three-year farewell tour before leaving the road; he said he intends to continue making music, but wants to spend more time with family.

See Photos from the 2018 Grammy Awards