Madonna put on another racy performance, as she continued her Celebration Tour at Barclays Center in Brooklyn, New York, on Saturday.

The singer, 65, shared a kiss with a topless dancer while donning satin lingerie, before she was joined onstage by her daughter Estere, 11, once again.

The entertainer is performing an ambitious 45-song setlist highlighting her record-breaking 40-year career, and opted for a number of revealing outfits, including a leggy nun costume.

During the show Madonna also referenced her recent health woes, as she joked that she ‘had to almost die’ to get all six of her children ‘in one room’ together.

‘The fact that I’m here right now is the f*****g miracle,’ she said, according to Page Six.

Madonna put on another racy performance, as she continued her Celebration Tour at Barclays Center in Brooklyn, New York, on Saturday

The singer, 65, shared a kiss with a topless dancer while donning satin lingerie, before she was joined onstage by her daughter Estere, 11

Estere wore a yellow outfit and black boots for the performance. The budding star previously stole the show in London in October, when she joined her mom onstage for an unforgettable show.

Madonna said that she woke up in the hospital to her ‘scared’ kids, when she suffered a health crisis that caused her to be hospitalized over the summer.

She also thanked a mystery woman named Siobhan, who ‘saved [her] life.’

‘There are some people in this room tonight that were with me in the hospital,’ she shared.

‘There is one very important woman who dragged me to the hospital … I passed out on my bathroom floor and I woke up in the ICU,’ she said about Siobhan.

‘When I first became conscious, I saw my six incredible children sitting in the lobby,’ she explained, adding, ‘They were all pretty scared and I didn’t understand what was going on.’

Madonna is a mom to Lourdes Leon, 26, Rocco Ritchie, 23, David Banda, 18, Chifundo ‘Mercy’ James, 17, and twins Stella and Estere, 11.

She said the experience made her think of her own mother, who died from breast cancer at age 30.

‘She was by herself,’ Madonna stated, adding, ‘And I was thinking, “What if I left my children?” That would destroy me to leave my children at this moment in their lives.’

Madonna appears to be crying during performance in London

During the show Madonna also referenced her recent health woes, as she joked that she ‘had to almost die’ to get all six of her children ‘in one room’ together

The entertainer is performing an ambitious 45-song setlist highlighting her record-breaking 40-year career, and opted for a number of revealing outfits

‘The fact that I’m here right now is the f*****g miracle,’ she said, according to Page Six

One of her looks was a red and black lace slip dress

She paired the look with knee-high black boots

The superstar rocked her iconic blonde curls

She opted for her classic motif of combining sexual and religious imagery

One of her costumes was that of a leggy nun. It featured a blue and black bustier and white head covering

She accessorized with a large silver cross necklace

She was joined by theatrically dressed backup dancers

During the show she also thanked a mystery woman named Siobhan, who ‘saved [her] life.’ ‘There are some people in this room tonight that were with me in the hospital,’ she shared

She shared her health scare made her think of her own mother, who died from breast cancer at age 30

‘She was by herself,’ Madonna stated, adding, ‘And I was thinking, “What if I left my children?” That would destroy me to leave my children at this moment in their lives’

The veil covered her face before she moved it up

She sang through the white veil

She was also seen completely covered up in black while praying the rosary

The Vogue hitmaker rocked a see-through black lace corset and mini skirt in another sizzling look of the night

She teamed the outfit with a spectacular crystal necklace

She completed the look with black boots

She wowed the audience at Brooklyn’s Barclays Center with her performance

She was pictured hugging a shirtless dancer

The star also rocked a few metallic outfits

She also changes hairstyles throughout the show

Madonna commands the stage opening night of her Celebration To

‘I wasn’t thinking about me. I was thinking about them, and I was thinking about my mother and how scared she must have been to know that she was going to leave us all behind.’

She went on to say that ‘crazy f*****g things happen to us’ so that we can ‘realize what other people go through.’

She told the audience: ‘I don’t take any of this s**t for granted.’

Madonna put on a very sultry show alongside a dancer representing her younger self in her 1990 Blond Ambition tour, which supported her fourth studio album Like A Prayer.

She opted for her classic motif of combining sexual and religious imagery.

In yet another costume change, she added a cowboy hat and boots as well as a metallic figure-hugging catsuit.

Another look saw her in a silk boxing robe.

She was also seen completely covered up in black while praying the rosary.

The Vogue hitmaker also rocked a see-through black lace corset and mini skirt in another sizzling look of the night.

She also rocked a futuristic silver catsuit and sunglasses

The star cozied up to a number of her dancers

She gave a passionate performance

Her platinum blonde tresses were styled straight

During the show Madonna went on to say that ‘crazy f*****g things happen to us’ so that we can ‘realize what other people go through’

The catsuit clung to her figure

At one point she was seen laying on the floor

Another look saw her in a silk boxing robe

She rocked Marilyn Monroe like bouncy curls

Boxers behind her rocked red velvet shorts

Madonna sang from amid a sea of shirtless bodies during another part of the show

Another costume of the night featured a theatrical black gown

The look was completed with a silver crown

She unveiled a number of intriguing costumes

Madonna shares a number of photos from her most recent Eurotrip