The 26-year-old singer surprised Baldwin and Jenner to sing her hit single "Party in the U.S.A." with the models on the Apple Music series.
The video shows Baldwin and Jenner jamming to the song as Cyrus pops up around their car. Cyrus then appears in the back seat as they finish the tune.
"@HaileyBaldwin x @KendallJenner #CarpoolKaraoke drops FRIDAY -- only on the @AppleTV app. To tide you over, here's a little sneak peek featuring a certain @MileyCyrus!" Carpool Karaoke captioned the clip on Twitter.
Carpool Karaoke previously released a teaser for the episode that showed Baldwin and Jenner taking a lie detector test. Jenner asked Baldwin if the model's now-husband, Justin Bieber, thinks she's cool.
Cyrus celebrated in a tweet Friday after "Nothing Breaks Like a Heart" topped Spotify's list of Today's Top Hits.
"Thank you @Spotify! Today's top hits! #NothingBreaksLikeaHeart @MarkRonson," she wrote.