The pair locked lips during a performance at the MTV VMAs in 2003, while singing a medley of Madonna's hits with Missy Elliot and Christina Aguilera.
© PA Images / Ian West/PA Wire
© PA Images / Leonid Naidiouk/AP
Reflecting on the moment with ABC's Good Morning America, she explained: "It was a nice moment and [she's] a good kisser."
Asked if she would do it again, Madonna responded: "No, I already did it. I don't like to repeat myself."
Watch Madonna, Britney Spears, Christina Aguilera and Missy Elliot's performance at the 2003 MTV VMAs below:
The 53-year-old performer is currently promoting her directorial film debut W.E., which is released in US cinemas on February 3 and UK cinemas on January 20.
The pop icon recently confirmed that her 12th studio album will be called MDNA and is expected to release the new material this spring.
> Madonna teases new world tour in 2012: 'I still have to pay the rent'
Watch the full interview with Madonna on ABC's Good Morning America below:
