Dick Clark ProductionsMadonna will return to the stage of the Billboard Music Awards later this month to pay tribute to her late friend and fellow ’80s music icon, Prince.

After Prince passed away, Madonna tweeted, “He Changed The World!! A True Visionary. What a loss. I’m Devastated.” Her manager Guy Oseary also revealed that at one point, he suggested she and Prince tour together, and while Madonna was into the idea, Prince felt that the world “wasn’t ready” for it.” The two also reportedly dated, and duetted on “Love Song,” from Madonna’s 1988 album, Like a Prayer.

However, the two have taken shots at each other in the press as well — Madonna once called Prince “a little troll,” according to Rolling Stone, while Prince once joked onstage in 2007, “I got so many hits y’all can’t handle me. I got more hits than Madonna’s got kids.” But the two seemed to have buried the hatchet by 2011, when Madonna was seen cheering him on at his concert in New York City.

The Billboard Music Awards will air May 22 on ABC, live from Las Vegas.

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