See Cardi B Join Madonna on Stage at Final Los Angeles Celebration Tour Show

"My mom is a big Madonna fan and she passed it down to me," wrote Cardi in a 2016 social media post she re-shared the same day as the onstage moment

Madonna's latest celebrity guest on the Celebration Tour is Cardi B!

The "WAP" rapper joined the Queen of Pop on stage as the co-judge of her Celebration Tour's "Vogue" ballroom segment during the last of five shows at the Kia Forum in Los Angeles on Monday.

Cardi, 31, sported blonde bombshell hair and a sleek black bodysuit as she and Madonna, 65, got into the groove and handed out scores to the "Material Girl" icon's dancers — including her 11-year-old daughter, Estere, who received a perfect 10.

Related: Madonna and Kylie Minogue Team Up for First-Ever Performance Together During Celebration Tour: 'A Long Time Coming'

Past guests who've appeared in the Celebration Tour's ballroom portion include Madonna's boyfriend Josh Popper, Pamela Anderson, Kelly Ripa, Debi Mazar, Julia Fox, Alexa Demie, Julia Garner and more.

On the same day as Cardi's onstage appearance, she re-shared a 2016 video on X (formerly Twitter) of herself singing along to Madonna's hits "Into the Groove," "Papa Don't Preach" and "Material Girl" while sitting in a car.

"My mom is a big Madonna fan and she passed it down to me," wrote the Grammy winner alongside the clip at the time.

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The two musicians first met at Madonna's 2018 Oscars party, where Cardi B performed and later wrote a heartfelt social media post about what the moment meant to her.

"I can’t even believe i performed at her event and it was the most meaningful performance ever.I grew up with my mom listening to Madonna for hours," wrote the then-25-year-old rapper at the time. "I performed Material Girl freshman year in high school, listen to her on all my photo shoots to have super confidence and always mentioned her in my interviews."

In 2022, however, they nearly found themselves in a feud. To celebrate the 30th anniversary of her S.E.X. book, Madonna took to her Instagram Story and spoke about the impact of the controversial project.

Related: Madonna Falls Backward Onstage After Dancer Mishap (and Handles It Like a Pro!): Watch

"Now Cardi B can sing about her WAP. Kim Kardashian can grace the cover of any magazine with her naked ass and Miley Cyrus can come in like a wrecking ball," she wrote at the time. "You're welcome bitches ....... 🤡."

Cardi took offense to the statement and expressed disappointment on social media, but she later spoke on the phone with Madonna and settled the issue.

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"I talked to Madonna …It was beautiful …Have a great day and drive safely yallll," she wrote at the time, later adding in an interview with Hollywood Unlocked, "My feelings was a little hurt because to me Madonna is not no regular-degular artist. She’s actually somebody that I really look up to."

"I always appreciated what she did. I just feel like she's an amazing feminist woman, and I'm just glad I had a talk with her," added Cardi.

Madonna reciprocated the admiration, writing in a post on X, "I love you @iamcardib !! ♥️ Always have and always will."

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