Miley Cyrus has covered a Flaming Lips song live with the help of two of the band's members.

The singer was performing at Los Angeles' Staples Center on Saturday (February 22) when she brought of Wayne Coyne and Steven Drozd of The Flaming Lips.

The surprise collaboration saw the musicians run through the group's track 'Yoshimi Battles The Pink Robots Part 1'.

Cyrus reportedly said: "I’m so f*cking excited. I don’t think you guys understand what this means right now. F*ck yes!"

The concert also saw Katy Perry watch from the audience and Cyrus was seen landing a kiss on the 'Prism' star.

The singer said: "I just kissed a girl and I really liked it a lot."

Watch Miley Cyrus and The Flaming Lips perform together below: