Janet Jackson brought her State of the World tour to a close at Philips Arena in Atlanta, Georgia Sunday night. To send the months-long experience off with a fitting conclusion, Jackson brought out friend and all-around legend Missy Elliott.

The two ran through their 2015 collab "Burnitup!," which first appeared on Jackson's most recent studio album Unbreakable.

 

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"Thank you @janetjackson for bringing me out on your finale #stateoftheworldtour," Elliott said in an Instagram note Sunday night. "We been friends for two decades & I'm still AMAZED EVERYTIME you PERFORM! You are ICONIC/LEGENDARY & even with all your accolades you have every right to feel yaself but u are so HUMBLE! I couldn't ask for a better friend/sis [sic]."

Jackson kicked off the State of the World tour in September after a delay due to pregnancy. "Please if you can try and understand that it's important that I do this now," Jackson told fans when announcing the original postponement. "I have to rest up, doctor's orders."

Elliott's surprise appearance Sunday night caps off a celebratory year for the Virginia icon​. Supa Dupa Fly, Elliott's insta-classic 1997 album featuring "The Rain" and "Beep Me 911," turned 20 years young back in July. This year also saw the release of her Lamb-featuring new single "I'm Better.​"

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