"I don't like riding in a car unless there's music," Madonna said as the pair got to driving around New York City while jamming out to a number of the pop icon's hit songs from the '80s and '90s including more recent single "[Expletive] I'm Madonna" which ended with a twerking session.
Other songs performed included "Papa Don't Preach," "Don't Cry For Me Argentina," "Express Yourself," "Ray of Light," "Music" and "Vogue" that saw Madonna breaking out an impressive leg split while sitting in the passenger seat.
A big personality in music and onstage, Corden learned from the 58-year-old that she actually considers herself quite normal and boring when she is at home.
"My work is rebellious but my lifestyle is not rebellious. I don't smoke, I don't drink, I don't party, I'm quite square," Madonna said much to Corden's surprise. "I go home and I'm Julie Andrews," she continued.
Another revealing moment came after Madonna admitted to kissing Michael Jackson after Corden asked about their friendship.
"Baby I've been around," she said about tongue kissing the late superstar. According to Madonna, she had to lean in for the kiss.
"I did if you wanna know the truth because he's a little bit shy," she continued about making the first move. "However he was a willing accomplice. I did get him to sort of loosen up with a glass of Chardonnay and it did wonders."