Busta Rhymes surprised concertgoers at Janet Jackson’s Madison Square Garden show on Tuesday night, and revealed that the iconic pop star almost made him have an accident on the highway.

Busta remembered driving on New York’s Belt Parkway 25 years ago, and “going from Long Island to Manhattan, listening to Janet Jackson do an interview with Angie Martinez on Hot 97, promoting the ‘Velvet Rope’ album,” when Martinez asked Jackson about a rapper she’d like to work with.

“She said, ‘Busta Rhymes!’ I almost crashed my f–king car!” he said.

Jackson and Busta collaborated on his 1998 hit song, “What’s It Gonna Be?”

She brought him onstage for the second night of her “Together Again” tour at MSG, and they performed the tune together for the first time.

Busta even arrived at MSG with gifts, declaring on the stage: “Queen, royal, empress Janet Jackson… Please understand, I know she’s on schedule for the show, I don’t want to interrupt the programming too much, but I brought some gifts for you, queen.”

A concertgoer told us, “It definitely seemed like he was about to cry. [He was] very emotional. He definitely got choked up for a second.”

Busta presented Jackson with flowers and a cake, telling the crowd her 57th birthday is next week.

Sources described Jackson as “genuinely surprised, and a little embarrassed about the praise… in her sweet Janet way.”

Jackson had famous — and fashionable — visitors in the crowd including singer Maxwell, Angela Bassett, Ciara, Bethann Hardison, jeweler Jennifer Fisher and Jackson’s former “Good Times” costar, Ralph Carter.

Spotted at Jackson’s concert on Monday night: Sherri Shepherd, Alicia Silverstone and fashion designer Christian Siriano, who created some of Jackson’s tour looks.