Photo of Janelle Monae performing on 'Tonight Show,' by Douglas Gorenstein
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Janelle Monáe and Jidenna on Monday night delivered a titillating live rendition of their hot, bedroom-ready collaboration "Yoga" for The Tonight Show Starring Jimmy Fallon.

It's also worth noting how refreshing it is to see Monáe in this steamier element and displaying such confidence on stage," introducing the track as a "song of the summer."

The Tonight Show performance, which also features support from The Roots, can be seen below.