Madonna Stretches, Dishes on Michael Jackson Make Out Sesh on 'Carpool Karaoke'

Madonna joined James Corden for Carpool Karaoke on The Late Late Show for a drive through Manhattan on Wednesday night, and if you haven't seen it, it's a must watch.

James and Madonna took turns singing all of the classics ("Vogue," "Papa Don't Preach") as well more recent additions to her catalog ("Bitch, I'm Madonna"). The pair even dueted on an Evita track, which moved Corden to tears.

Madonna pulled out all of the stops for her new "bitch," raising her leg perpendicular to the floor during "Vogue" and twerking during "Bitch, I'm Madonna." While the two sang to "Music," Madonna even thrusted herself out of the vehicle, kicking her legs around out of the car.

The Queen of Pop also got confessional with Corden. She mentioned that the Catholic Church has excommunicated her, "like three times," and that she once used Chardonnay to loosen late pal Michael Jackson for a makeout sesh!

"Baby, I've been around," said Madonna. Ugh, GOALS.

Watch below:

Madonna's Rebel Heart Tour airs Dec. 9 on Showtime.