WATCH: Madonna Twerks on ‘Carpool Karaoke,’ Confesses She Made Out with Michael Jackson

Madonna was the latest musician to join James Corden for his insanely popular segment “Carpool Karaoke,” and things got personal.

The trip began with Madonna calling Corden a “pussy” for allowing a NYC bus cut him off. “If you let people get away with bad behavior they’re gonna do it again,” she lectured the late night talk show host. Luckily, the name calling was quickly forgiven as soon as Corden suggested the duo listen to some music while stuck in traffic. First up: “Vogue.” Madonna and Corden showed off their best voguing skills, which ended with them dancing on the ceiling of the car — literally.

Next up was “Bitch I’m Madonna,” which caused the singer to get up out of her seat and twerk for Corden and the camera. “That’s the first in car twerk I’ve ever seen,” the host admitted. “Really? Really, I’m shocked,” the singer replied.

After a few more songs, Corden and Madonna got really personal, with the singer opening up about what she’s looking for in a man. “You have to have a sense of humor and understand my sense of humor. Otherwise, we are dead in the water,” she revealed.

“You were friends with Michael Jackson, what was that like?” Corden asked as they continued to get more personal. “So you want me to kiss and tell then?” she replied coyly.

“Did you kiss?” Corden asked, to which the singer responded, “Of course!”

When the shocked host asked just how intimate her kiss with Jackson was she confessed, “Yea, tongue and mouth kissing,” before adding she made the first move because he was “a little bit shy.” “However, he was a willing accomplice” she continued. “I did get him to sort of loosen up with a glass of chardonnay.”

Launch the video up top to watch the entire segment.