More than a million people thronged Brazil’s Copacabana beach for a free Madonna concert on Saturday, braving the heat to see the end of her “Celebration” world tour.

“Rio, here we are in the most beautiful place in the world,” the 65-year-old singer said, as the performance got under way.

The show was the final stop on her Celebration Tour, celebrating her 40 years in music. It is estimated that over 1.6 million fans attended the show.

“Are you ready?” Madonna posted on her Instagram account hours before the show.

Crowds of fans danced to Madonna’s songs played from speakers on the stage before the SU singer arrived to perform.

Madonna performed some of her greatest hits, including Nothing Really Matters, Like a Prayer and Vogue.

She has scored another 71 hits, including 13 number one singles, since she burst onto the UK charts with Holiday in 1984.