Queen of Pop Madonna stayed on her feet to give fans a sultry and extravagant performance of her latest album at The O2 at Greenwich on Tuesday (December 1).

The singer received huge cheers from the crowd when her cape was whipped away without a hitch – unlike the last time she was at the venue when her downstairs tumble was the highlight of the Brit Awards in February.

She said: “It’s so good to be back. Right back here where I belong.”

The 57-year-old was performing the first UK show of her Rebel Heart world tour and played to a crowd for more than two hours. She returns on Wednesday (December 2) for the second and final night at Greenwich .

She added: “London has a very special place in my heart. When I was a young girl living in New York. I was a bartender in a restaurant. I robbed the cash register blind every night. Why? Because I was dying to come to London and check it out. So I saved up all my stolen cash and I came here and it was the most amazing experience of my life.”

Madonna performs at The O2

She made plenty of quick changes, with a rich baroque look, singing new songs as well as hits from her long back catalogue – including Like A Virgin, Material Girl and Holiday. But the energetic set took its toll and she needed a rest halfway through.

“It’s so nice to sit down for a wee moment. You don’t mind do you? Oh my goodness. Even I have to admit that I outdo myself,” she joked. “Nobody f***s with the Queen.”

At one point she was joined on stage with TV host, and Limehouse resident Graham Norton for an impromptu dance.

Marking World Aids Day, the star paid tribute to her friends who have died from Aids and said the entire family of her adopted son died from the virus. “We shall overcome one day,” she said.

Madonna takes her show to Manchester, Birmingham and Glasgow.