Billy Joel continued his monthly residency at New York’s Madison Square Garden last night and welcomed special guest Steve Miller during his performance for a classic cover.

Early in the show, Joel turned to the audience for some setlist choices, having them pick one of two songs for what ended up being five tunes on the night, kicking off with “A Matter of Trust,” “She’s Got a Way” and “Vienna.” Miller emerged near the halfway point of the set to lead the way on his own hit “The Joker,” which he had played with Joel before, including at The Garden back in 2015.

Last night’s show also featured Joel staples like “New York State of Mind,” “Piano Man,” “Scenes From an Italian Restaurant” and an encore that included “We Didn’t Start the Fire,” “Uptown Girl,” “It’s Still Rock and Roll to Me,” “Big Shot” and “You May Be Right.”

Watch fan shot video of the Joel-Miller collaboration below.