The segment featured the pop star and late night host singing and dancing together to songs such as "We Can't Stop," "The Climb," "Party in the U.S.A.," "Wrecking Ball," "Younger Now" and "Malibu" from Cyrus' latest album, Younger Now.
In between songs, Cyrus detailed how much she has changed and how she became an activist following her infamous 2013 MTV VMA performance with Robin Thicke that featured the former Disney channel star twerking onstage.
"I realized if that many people were going to talk about something that I did, or something that I do, then I should make it a good thing, and I should make it something that can change people's lives rather than be a controversial conversation that does nothing but become a fun Halloween costume for people," she said.
"I think there was something when I first, you know, kind of stopped doing Hannah Montana... saying, 'I'm not that, I want you to know who I really am,' but I love that that was me and is me and is a part of me. And I think I've allowed that childhood self to shine through a little more because I'm not trying to run away from it, I'm down to embrace it. I think that's good for everyone should embrace who they used to be because it's made you who you are now," Cyrus continued.
The drive also featured Corden using Cyrus' long tongue to help lick some stamps, a conversation about how high the singer was during various career moments and Cyrus sharing how she crashed her car into a sound trailer on the set of The Voice.