It was teased, then teased again. Now it’s finally here — the complete Madonna carpool karaoke aired Wednesday night on James Corden’s “Late Late Show.”

Together, the two rolled through New York City and belted their way through Madonna’s decades-long catalogue including “Papa Don’t Preach,” “Express Yourself,” “Vogue,” “Ray of Light,” “Music,” “Bitch I’m Madonna” and even tossed in a little musical theater with “Don’t Cry for Me Argentina.”

Madonna did not seem comfortably confined to the passenger’s seat and periodically danced, twerked and lifted her legs up to the ceiling of the car. At one point near the end of the segment it looked as if she might jump out the window. The two also took a few breaks from the hits to make small talk.

“You were friends with Michael Jackson,” Corden prompted at one point. “So you want me to kiss and tell then don’t you?” Madonna responded.

“Did you kiss?” he asked hesitantly. “Of course. I mean, baby, I’ve been around,” she said. “Full French kissing. Tongue and mouth kissing.”

Corden confessed that the alleged make out was news to him, to which Madonna responded, “Well I haven’t had the chance to talk about it. No one ever asks me.”

She added that she made the first move. He’s a little bit shy,” she said. “However, he was a willing accomplice. I did get him to loosen up with a glass of Chardonnay, and it did work wonders.”

Watch the full video below: