Janet Jackson brings out Missy Elliott at tour closing show in Atlanta
Concert Daily / YouTube

Janet Jackson capped her State of the World tour with authority over the weekend, bringing out Missy Elliott to perform their 2015 song "Burnitup!" in Atlanta on Sunday night. The song was featured on Jackson's album Unbreakable, her seventh No. 1 album on the Billboard 200. 

Elliott took to Instagram to express her gratitude to Jackson after the duo performed at Philips Arena. "Thank you @janetjackson for bringing me out on your final #stateoftheworldtour," she wrote. "We been friends for two decades & I'm still AMAZED EVERYTIME you PERFORM!"

The State of the World tour wrapped its extensive North American leg that ran over 56 shows between September and December. The tour was announced as a follow-up to Jackson's Unbreakable world tour, in which the majority of dates were postponed due to her pregnancy in 2016. The State of the World tour marked the singer's eighth headlining tour since her debut Rhythm Nation world tour in 1990.

Elliott served as an opening act along Jackson's 2015 Unbreakable tour. She was also a special guest on her 2001 All for You tour, which played over 73 concerts in North America and Japan that year. The "Work It" singer's last headlining tour came in 2010 with a full-fledged trek through Europe.