Madonna was the latest celebrity guest star on Late Late Show host James Corden‘s “Carpool Karaoke” segment.

MADONNA ON CORDEN’S CARPOOL KARAOKE

The fun-filled car ride started out with a collaboration of classic Madonna hit “Vogue.” The songstress was just getting started with her insane dance moves, putting her legs up in the air and exposing her fishnet stockings, as the song commanded, “strike a pose.”

Madonna got even wilder during the next song, taking off her seatbelt, spinning around, and twerking to “Bitch, I’m Madonna.” She seemed shocked when Corden said that was the first in-car twerk on the show, and she admitted that is not a common move for her.

“My work is rebellious but my lifestyle is not rebellious,” Madonna explained. “I don’t smoke, I don’t drink, I don’t party, I’m quite square.” Her kids, she said however, are quite rebellious.

“So Madonna is a person who is out on stage,” Corden began, and Madonna finished with, “and then I go home and I’m Julie Andrews and that is the crux of the matter, I mean give me a nun’s habit.” She quickly changed her tune when she said she used to want to be a nun because she liked their perverse uniforms.

The pair sang, and acted out, a few more hits, as well as “Don’t Cry For My Argentina” from the Broadway show in which Madonna starred, Evita.

Madonna admitted the most important quality in man is a good sense of humor and to be funny, at which point she took a jab at Corden. “She’s lucky, I think the best thing in the world is to be married to someone funny,” she started, complimentary. “All that’s missing is a good dress sense.”

Check out the entire segment below.