Madonna put on a free concert in Rio de Janeiro on Saturday night with throngs of fans flocking to see the pop idol on Brazil’s famous Copacabana beach.

“Rio, here we are in the most beautiful place in the world,” she declared, as the performance got under way.

The show was the final stop on the 65-year-old’s Celebration Tour, celebrating her 40 years in music.

More than 1.5 million fans were estimated to have attended the show.

“Are you ready?” Madonna posted on her Instagram account seven hours before the show.

Crowds of fans were seen dancing along to Madonna’s songs played from speakers on the stage, hours before the American superstar arrived.

In what many have called a “historic” show, Madonna impressed the audience with multiple set and costume changes and light displays.

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