Speaking to the crowd, Madonna said: “Twenty years ago today, I performed at Coachella – I was in the dance tent and it was the first time I performed Confessions On A Dance Floor: Part I in America and that was such a thrill for me.”
“So you can imagine what a thrill it is for me to be back 20 years later… so it’s a like a full circle moment you know – very meaningful for me,” she added, before discussing the astrology of the New Moon in Taurus with Carpenter.
The 5ft 4in star then pointed out it was the first time she has performed with someone shorter than her. “Thank you for giving me that experience,” Madonna joked.
The pair then joined forces for a duet of Like A Prayer.
Madonna first appeared at Coachella in 2006, popping up at the Sahara Tent instead of the main stage to perform Confessions On A Dance Floor. She later returned to desert, making a guest appearance during Drake’s 2015 set and had a viral moment when she kissed the rapper.
The collaboration came in Carpenter’s second week headlining the festival.
Saturday will see Justin Bieber headline for a second time, with Colombian pop star Karol G on Sunday.
The festival, which takes place over two weekends, draws more than 100,000 people daily, according to police from the city of Indio, and has been running at Indio’s Empire Polo Club since 2002.