AceShowbiz - Kelly Ripa has showered Madonna with praise following her appearance as a surprise guest at a recent concert. After joining Madonna onstage during the "Celebration" tour, the co-host of "Live With Kelly and Mark" called the "Material Girl" hitmaker an "icon."

On Tuesday, January 30, the 53-year-old TV personality shared her experience of attending Madonna's concert one day prior via Instagram. In the caption of her new post, she exclaimed, "It was 10s across the board last night with the icon herself, @Madonna!!!! #CelebrationTour @instasuelos."

In the same post, Kelly uploaded a video from the fun show. In the beginning of the clip, she could be seen having a blast while singing and dancing alongside her husband Mark Consuelos. The footage also included a photo of the wedded couple standing among other concertgoers at the gig.

The video went on to show Madonna performing with a number of backup dancers on a stage at the Madison Square Garden in New York City. The clip then showed Kelly getting on the stage to join the 65-year-old Queen of Pop before they shared a hug.

The famous host and the songstress appeared to be excited as they flashed their big smiles. Kelly was then filmed helping Madonna to judge the dancers' vogueing skills during the singer's performance inspired by her 1990 single titled "Vogue".

Following her surprise appearance, Kelly, who watched the gig with Mark, Demi Moore, Anderson Cooper as well as Andy Cohen, recalled the rare moment in the Tuesday episode of "Live With Kelly and Mark". She stated, "I've had a 40-year relationship with Madonna, in my mind, to be clear."

Kelly continued, "I kept turning around [to look at them] because I was like, 'Can you believe this is happening to me?' Anderson and Andy are like, dying. They're literally dying, they're screaming, they're laughing, they can't believe it, I can't believe it, and I look at Mark who was there with his cell phone camera."