Madonna will appear live on the Hip-Hop show with hosts Terrence and Rocsi at 6:00 PM. During the show, Rocsi will do Yoga in various positions, while Madonna judges the host's technique.

The show will also debut the video for Madonna's single "4 Minutes," featuring Justin Timberlake and Timbaland.

Madonna debuted six new songs from her upcoming album Hard Candy last night (April 30) at the Roseland Ballroom, where she was joined on stage by Justin Timberlake.

"I feel like the luckiest girl in the world to have been able to make a record with him [Timberlake], Timbaland, Pharrell [and] Kanye," Madonna told the crowd.

Hard Candy, Madonna’s final album for Warner Bros., is expected to top next week's Hip-Hip Billboard 200 chart