After taking to the stage in Brooklyn, America, Miley stripped off to a nude latex bralet and knickers before gyrating up against Robin.
Thanks to this jaw-dropping performance, 'twerking' was officially born.
The routine, which featured her tongue - a lot, became a massive talking point, but Miley defended it while on Alan Carr's Chatty Man.
She said: "I didn't really think anything about it until the next morning when the world was going crazy about it, because when I came off the stage I didn't think anything of it.
"It wasn't about the competition or what other people think, it was really more about expressing yourself as much as you can, and really celebrating your video... I didn't get why people were so surprised."
Even Miley's dad Billy Ray approved of the 'Blurred Lines' duet...
Miley also discussed her performance on The Ellen DeGeneres Show: Watch it here: