The 29-year-old singer brought her 'Femme Fatale' tour to LA's Staples Centre, where she performed a 22-track setlist for thousands of fans.
The pair took to the stage to perform a rendition of the remixed version of the track, which also features Ke$ha who originally wrote the song for Spears.
Spears will continue to tour North America until August 25, before bringing the shows to Europe in the autumn. The entertainer's UK leg of the tour will begin in Belfast on October 25.
Spears will debut the music for her new single 'I Wanna Go' on Wednesday, having previously released a teaser clip of the promo.
> Britney Spears 'Femme Fatale' tour opens to rave reviews
Watch Britney Spears and Nicki Minaj perform 'Till The World Ends' at the Staples Centre in Los Angeles below: