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Janet Jackson treated Atlanta to quite a tour closer on Sunday night, with a guest appearance from Missy Elliott.

The two performed their collaboration "BURNITUP!," from Jackson's 2015 album Unbreakable, which she's been supporting on tour. While she's spent much of the past year on the road, Jackson had initially postponed the trek so she could focus on starting a family.

Elliott's appearance tonight follows her headlining performance back in July at FYF Fest in Los Angeles, where Jackson was among the stars who turned out to show support for Elliott's rare live gig.

See fan footage of Jackson and Elliott's onstage reunion at the Philips Arena below.