The Kourtney & Kim Take New York! star was attending the Madison Square Garden show with friends when Prince spotted her in the audience and pulled her on stage to dance with him.
"OMG Prince just pulled me up on stage!!! I'm shaking!!!!" she tweeted after the incident. "I was so nervous I froze when Prince touched me!!!! (sic)"
She later added: "Went up on stage AGAIN! This time I redeemed myself! We all danced while Prince played the piano! Wow! What a night!"
Kardashian was at the concert with boyfriend Kris Humphries, who took to his own Twitter account during the show: "Kim got shy on stage. She looked gorgeous though!" he wrote. "Kimmy got nervous. So cute though."
Kourtney & Kim Take New York! airs Sundays on E!