The 'Purple Rain' singer was performing at the Way Out West festival in Sweden on Friday night when he invited the rapper onto the stage.
Prince was performing a rendition of his hit 'If I Was Your Girlfriend' while surrounded by a collection of his fans when West appeared on stage.
Taking a microphone, the Watch the Throne star chanted at the audience: "From side to side to side, if you feel alright, let me hear you say, 'Hell yeah'."
Both Prince and West have made a series of European festival appearances this summer.
The rapper performed at Norway's Oya Festival last week, where he said that he hated the press as they always try to "demonise" him.
Meanwhile, Prince paid tribute to the late Amy Winehouse during an appearance at Budapest's Sziget Festival on Tuesday.
Watch Kanye West join Prince on stage in Sweden below: