We first got a taste of Janet Jackson and Missy Elliott’s “BURNITUP!” collaboration when video surfaced of Janet opening her tour with the song. Now, the highly anticipated track is finally here, and it’s every bit as much a jam as you’d hope from the two legends.

The beat is electronic and uptempo, with processed vocal samples and crisp house drums. Janet plays the sci-fi diva, exhorting “Mr. DJ” to “turn it up” and the crowd to “dance like no-one’s watching.” Missy is a burst of exuberance, rapping in double time—”Make it work, make it work, make it work” she bellows.

It’s a cutting edge jam from two artists who have never been anything but. Janet Jackson’s Unbreakable drops Oct. 2.