Janet Jackson's Bump-and-Grind Show

The singer shows off her best Ms. Nasty moves during a concert in L.A.

Forget eye-popping wardrobe malfunctions.

Janet Jackson's kinky side was front and center during her concert last night at L.A.'s Staples Center.

During her performance of her sex-oozin' S&M-filled song, "Discipline," Jackson gave a male fan quite an elaborate lap dance after she announced, "I think it's time I found a new man."

She called the fella to the stage, where he was tied to a wooden frame and hung by a harness. At one point, Jackson lay on the stage and the guy was slowly lowered on top of her.

He could be seen on the concert's LCD screens mouthing, "I love you, Janet."

And then Jackson went for it, and the two locked lips for a few seconds.

It didn't stop there. Ms. Jackson also grabbed his crotch! She was surrounded by her dancers, some of whom were wearing oversize silver and black codpieces.

The audience went wild.

With that and a whole lot more, it's no wonder the tour is called Rock Witchu.

The two-and-a-half-hour music extravaganza featured 38 songs, about five costume changes (her hair was styled into a Grace Jones-like Mohawk), a dozen or so dancers and a set that included not only fireworks but actual flames of fire shooting into the air.

And let me tell ya, Ms. Nasty hasn't lost any of her fabulosity. The only time the 42-year-old wonder songstress wasn't on stage was for her very quick costume changes. She never let up. Her energy was on high all evening. Her iconic dance moves were in fine form.

"Thank you so much," she said after getting the crowd to sing along to her hit "Together Again." "I love you so much. It's good to be home."

Spotted in the audience were Jackson's beleaguered boyfriend Jermaine Dupri, Queen Latifah, director Brett Ratner, Raven-Symoné, Travis Barker, über-producer Jimmy Jam, Jackson's siblings Jermaine and La Toya, CAA poweragent Kevin Huvane and the host of Logo's upcoming drag-queen reality-competition show, RuPaul.