Ariana Grande and Miley Cyrus have been friends for years, cementing their mutual love in song with a cover of Crowded House’s “Don’t Dream It’s Over” in 2015 for Miley’s Happy Hippie Foundation. The two wore animal onesies, sang on a couch in Miley’s backyard, and casually nailed the song. It’s hard to re-create such a chilled-out, natural vibe in front of a crowd of thousands, but somehow, Ariana and Miley recaptured that energy once again at Ariana’s Manchester benefit on Sunday night. The two sat together onstage, hugged it out, and traded banter like the world wasn’t watching. See their duet above.