Fans' frenzy over Miley and Justin

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Miley Cyrus has joined Justin Bieber on stage during his show at Madison Square Gardens in New York sending fans into a frenzy.

Justin had been forced to cancel a show at the New York State Fair in Syracuse on Sunday, but was fighting fit for his performance yesterday.

The appearance was filmed for his upcoming 3D film biopic, which will hit cinemas next year. Justin wanted to ensure he got the best footage possible, so invited a host of stars to take to the stage with him.

Miley joined him for a rendition of his track Overboard, and the Canadian singer’s fans could barely contain their excitement at seeing two of the hottest teen stars performing together.

"Witnesses tell us that the crowd went beyond wild whenever Justin and Miley made any physical contact whatsoever, however innocent," reports E! News.

Earlier in the day Justin told fans how excited he was, writing on his Twitter page: “Its all really coming 2gether. Tonight I perform with my heroes! MSG its almost time (sic)!”

Other stars who sang with the 16-year-old included his mentors Usher and Ludacris and Boyz II Men. Sean Kingston also performed, and couldn’t get over how well the evening went.

"Tonight Was #HISTORY !!!!!! MSG IN NYC SOLD OUT ME USHER, LUDACRIS MILEY CYRUS AND LAST BUT NEVER LEAST BOYZ II MEN!!!!! I Had A Great Time (sic)," he wrote on his Twitter page.

Justin did his best to entertain the crowd throughout, putting on a high-energy show which saw him jumping across the stage and performing high kicks.

- Cover Media