Hip-hop legend Busta Rhymes made a surprise appearance during pop icon Janet Jackson's "Together Again" tour at Madison Square Garden on Tuesday night. The rapper shared a heartwarming story about Jackson almost causing him to have an accident on the highway 25 years ago.

According to Busta, he was driving on New York's Belt Parkway and listening to Jackson's interview with Angie Martinez on Hot 97, promoting her "Velvet Rope" album when Martinez asked Jackson about a rapper she'd like to collaborate with. To his amazement, she mentioned Busta Rhymes, causing him to almost crash his car in excitement.

The two eventually collaborated on Busta's 1998 hit song, "What's It Gonna Be?" and the rapper came bearing gifts when he joined her on stage at MSG. Emotionally choked up, Busta presented Jackson with flowers and a cake, acknowledging her upcoming 57th birthday next week.

Star-studded audience cheers Janet Jackson's MSG performance

Jackson appeared genuinely surprised and a little embarrassed by the praise, according to sources, and had famous faces in the crowd such as singer Maxwell, Angela Bassett, Ciara, and Bethann Hardison. Jeweler Jennifer Fisher and Jackson's former "Good Times" costar Ralph Carter were also spotted in the audience.

The night before, Jackson had another star-studded crowd, including Sherri Shepherd, Alicia Silverstone, and fashion designer Christian Siriano, who created some of the pop star's tour looks. Fans were thrilled by Busta Rhymes' appearance, which added an extra layer of excitement to an already unforgettable evening.