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Janet Jackson Crashes Jimmy Fallon's “Tonight Show ”Monologue — and Gives Him an Impromptu Dance Lesson!

The singer helped Fallon learn the 'Rhythm Nation' countdown after catching him "messing up" the choreography

<p>Todd Owyoung/NBC via Getty </p> Janet Jackson crashes Jimmy Fallon

Todd Owyoung/NBC via Getty

Janet Jackson crashes Jimmy Fallon's 'Tonight Show' monologue

Janet Jackson knows how to get an audience on their feet!

On April 12, the pop icon, 57, stopped by The Tonight Show to crash Jimmy Fallon’s opening monologue, and the crowd went wild.

Fallon, 49, kicked off the Friday night episode by attempting Jackson’s iconic “Rhythm Nation” countdown and choreography — before the singer herself cut in.

Related: Janet Jackson Hangs Out Backstage with Tom Cruise During Tour Stop: 'It Was So Good Seeing You'

As Fallon continued his impression of the performer, she emerged from the Tonight Show curtains and slowly snuck up behind the host, imitating his moves.

The crowd jumped to their feet to give Jackson a standing ovation, and Fallon, excited by the enthusiastic response, said, “Come on, now! That’s what I’m talking about!”

The host then attempted to ask the singer why she stopped by, but the crowd drowned him out with their cheering as Jackson grinned from ear to ear.

After several seconds, Fallon was finally able to get a word in, and asked the star, “Why did you grace us with your presence?”

Still smiling, the star revealed that she was in New York City to rehearse for the upcoming dates of her global Together Again Tour, which earned another enthusiastic round of cheering from the crowd.

Related: Janet Jackson Poses with Naomi Campbell at Supermodel's Boss Collaboration Launch Party

“By the way, I want to thank everyone for making this the most successful tour to date in my career,” she added.

Telling Fallon about the 35 new summer dates — which she announced in January — the musician teased that there will be “new surprises” and “definitely new music” this time around.

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She also asked the comedian why he was “out here messing up my stuff," before correcting his countdown choreography.

"I gotta teach you how to do this properly. Listen, and then I gotta get back to rehearsal,” she said, before jokingly instructing Fallon how to count down from five, grabbing each finger one by one.

And, as Jackson headed backstage, Fallon joked, “I’m never washing this hand again!”

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