Madonna finally gets into the groove for her career-spanning Celebration tour. Here are 12 of the best photos from opening night in London.

Madonna performs during opening night of the Celebration tour in London on Saturday.Kevin Mazur/WireImage/Getty Images

• Madonna kicked off her highly-anticipated Celebration tour in London on Saturday.
• The tour was delayed by three months after the singer, 65, was hospitalized in June.

Madonna kicked off her Celebration tour in London on Saturday, after being forced to reschedule due to health problems in June.

adonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images

Source: Insider

She opened with her 1998 hit "Nothing Really Matters," dressed in a black kimono, similar to the Gaultier-designed one she wore in the song's music video.

adonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images

The three-tiered circular stage was reminiscent of the mini wedding cake stage she used during her performance of "Like A Virgin" at the 1984 MTV Awards.

Madonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images

Source: YouTube

At one point the show had to be paused due to a technical difficulty with the sound. Madonna kept the audience entertained by sharing stories from the early days of her career.

Madonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images

Source: The New York Times

She performed "Live To Tell" while honoring friends she has lots to AIDS, including her former manager Martin Burgoyne and Queen's Freddie Mercury.

Madonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images

Source: Twitter

The star also discussed her health struggles this year, which saw her spend several days in an ICU, before launching into a cover of Gloria Gaynor's "I Will Survive."

Madonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images

Source: The New York Times

Madonna performed one song in a boxing ring as two dancers staged a faux-fight, which many think is a nod to her boxing coach boyfriend Josh Popper.

Madonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images

Source: People

During "Like A Virgin," Madonna performed an explicit routine with her dancers.

Kevin Mazur/WireImage for Live Nation/Getty Images

Some dancers were dressed as the singer from different eras of her career, including one that recreated her "Blond Ambition" look and another that wore a pink "Hung Up"-style leotard.

Madonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images

Source: BBC

Madonna's daughter Lourdes Leon, 27, made an appearance onstage during "Vogue" to score the singer's backup dancers out of 10.

Madonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images

Source: BBC

Elsewhere, she was joined by her adopted daughter Mercy James, 17, for the piano ballad "Bad Girl." David, 17, and Stella, 11, also joined their mom on stage at other points.

Kevin Mazur/WireImage for Live Nation/Getty Images

Source: BBC

Madonna ended the show with a medley of anthems "Bitch, I'm Madonna" and "Celebration" and a speech about sexism and ageism in the music industry.

adonna performs during opening night of The Celebration Tour at The O2 Arena on October 14, 2023 in London, England.      Kevin Mazur/WireImage for Live Nation/Getty Images