Madonna and her daughter Lourdes Ciccone Leon make a surprise appearance on the red carpet at the New York premiere of 'Nine'. Tagging along with them was Jessica Seinfeld. Held at the Ziegfeld Theatre, NYC. - Johns PkI / Splash News

By Joanne Clements Nov 18, 2010, 15:02 GMT

An American dancer has told how she snogged Madonna in a sexy game of truth or dare.

Carrie Ann Inaba, a judge on reality television show Dancing With The Stars, claims the Erotica singer smooched her during a crazy after-show party at the end of her 1993 world tour.

'She came and she sat right here,' the TV star said, pointing at her lap. 'I was like 'Okay, I love Madonna. Hi'.'

Inaba, 42, reminisced about her time as a backing dancer on Madonna's 1993 Girlie Show world tour during an appearance on George Lopez's US chat show.

The performer, who sits alongside Len Goodman and Bruno Tonioli on the Dancing With The Stars panel, told the talk show host how Madge first took he by surprise by kissing her in the middle of one of her concerts.

'We had this moment on stage where there was this huge orgy,' she explained.

'Suddenly Madonna’s coming to kiss me and I'm like 'Oh my god, Madonna's going to kiss me.'

'We kissed – it was very nice. We had this amazing kiss on stage.'

'At the very end of the tour we played truth or dare. I don't remember what happened, but when somebody dared Madonna she came by,' she said.

Although Madonna failed to ask permission for a kiss, Inaba met her gaze and the pair puckered up.