Prince performed a very special concert at his Paisley Park studios Thursday, witnessed by only about 60 people, including Madonna, who was in Minnesota for her “Rebel Heart tour.

According to the local Minnesota radio station, The Current, Madge watched the show, which featured Prince’s all-girl band 3rdEyeGirl, “perched on the edge of the stage at Prince’s feet.”

Madonna and Prince certainly go way back. They previously worked together on the “Like a Prayer” track, “Love Song,” although they did not perform it that night. Madonna was apparently there strictly as a fan.

At least Prince and Madonna seem to be on friendly terms. Black Eyed Peas lead singer will.i.am recently recounted a story to Esquire about how Prince once taunted Michael Jackson at his Vegas show using "aggressive slap bass" techniques.

The next morning, Will went over to Michael's house for breakfast, and they're talking about Prince and the show. And then Michael goes, 'Will, why do you think Prince was playing bass in my face?' Michael was outraged. And then started going on. 'Prince has always been a meanie. He's just a big meanie. He's always been not nice to me. Everybody says Prince is this great legendary Renaissance man and I'm just a song-and-dance man, but I wrote "Billie Jean" and I wrote "We Are the World" and I'm a songwriter too.'

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