Madonna recently appeared on the Carpool Karaoke segment of The Late Late Show with James Corden Getty

Never one to hold back, Madonna lived up to her reputation during an appearance on the Carpool Karaoke segment with host James Corden on Wednesday. Speaking about past romances, the legendary singer relived the moment she kissed Michael Jackson – revealing it was not an easy task as the late singer was "shy".

According to the Rebel Heart songstress, she has never talked much about her romance with Jackson because no one has ever asked her. So, when Corden pressed Madonna on her past relationship with the King of Pop, she wasted no time in admitting that she did "kiss" the pop star.

"I mean, baby, I've been around," the Material Girl hitmaker said adding, "tongue-in-mouth kissing." And if that's not much of a revelation, Madonna also added that it was she who made the first move as Jackson was "little bit shy".

"However, he was a willing accomplice. I did get him to loosen up with a glass of chardonnay. And it did. It worked wonders," the Like A Virgin hitmaker confessed to The Late Late Show host.

If rumours are to be believed, Jackson and Madonna were quite an item in the past, and the singers even had a one-week romance back in 1991.

Apart from the kiss and tell chat with the English TV personality, Madonna entertained during the popular segment of the chat show by belting out some of her hit tracks. While singing to her 1990 hit song Vogue, the singer stuck her legs out, and by the time B***h, I'm Madonna played, she was twerking inside the car.

"That's the first in-car-twerk I've seen," Corden said praising her.

Over time, Corden's Carpool Karaoke has become a popular segment both among the viewers and the celebrity guests. Before Madonna graced the passenger seat with the 38-year-old host, the segment has seen the likes of Lady Gaga, Britney Spears and more.

Watch Madonna do her thing in the video below: