Lady Gaga and R. Kelly give explicit performance of 'Do What You Want' on SNL

Lady Gaga and surprise guest R. Kelly hit the SNL stage this weekend and stole the show. The two performed the ARTPOP single "Do What You Want."

Gaga made her hosting debut on Saturday Night Live and performed live for the third time.

Clad in a glittery jumpsuit, Gaga kicked off her performance with an interpretative dance to the lyrics. Gaga's performance was already a little risque as she pranced around the stage and channeled her inner Michael Jackson as she made crotch-grabs. But the performance didn't heat up until R&B crooner R. Kelly hit the stage.

Kells joined Gaga mid-song for his feature and took the performance to another level, as expected.

"Back of the club, taking shots, getting naughty," Kelly sang. "No invitations, it's a private party/ Do what I want, do what I want with your body/ Do what I want, do what I want with your body/ Yeah we taking these haters and we roughin' em up/ And we layin' in the club like we don't give a f---."

He swung Gaga over his shoulder while singing, later straddled her and picked her up. The performance looked like something right out of Dirty Dancing. Little was left to the imagination.

Gaga's second performance of the night was a little more conservative. She took to a pink piano to perform "Gypsy."

The two definitely have Miley Cyrus and Robin Thicke beat with this performance. Check out Lady Gaga and R. Kelly's SNL performance.