It's an epic Carpool Karaoke for the ages!

Fresh from her highly successful Malawi fundraiser, Madonna joined James Corden for his "Carpool Karaoke" segment this week on The Late Late Show -- and things got pretty wild!

James and Madonna went driving through the streets of New York City singing classics from her beloved catalog of music -- and also dishing the dish on some taboo topics.

Not only is there twerking in the front seat (just watch!), but the pop star drops some hints about her relationship with Michael Jackson. “What was a night out with Michael Jackson like, or a night in?” The Brit asked. The Grammy winner replied, “So you want me to kiss and tell then, don’t you?” Then she confessed, "Baby, I've been around."

We believe that! With a little more prodding, Madge admitted that she was the one to first put the moves on the King of Pop -- but that was only after he loosened up and had a drink. Meow!

Check out the funny man and the Material Girl's whole raucous time!