During the St. Louis, Missouri, stop on her Liberation TouronTuesday, the 37-year-old pop star brought her 4-year-old daughter, Summer Raine, onstage while she sang her 2002 hit, "Beautiful."
In an Instagram post on Wednesday, Aguilera shared the special moment with her 5.8 million followers."Do you want to hear everybody sing?" Aguilera asks her daughter -- whom she shares with her fiance, Matthew Rutler -- before turning the microphone to the audience to sing the hit song.
"It's beautiful, Sum! You hear that? I love you guys," she exclaimed after the mother-daughter duo successfully sings the song's chorus. "Summer, this was way before you were born. Mommy was wearing Chucks."
Wearing a pink top and protective headphones, Summer looked a little nervous while she sat with her mom on the steps of the stage.
"Summer begs me to come out every night onstage! And then gets shy...but loves it...she’s taking it all in early," Aguilera captioned the clip.
The tour -- Aguilera's first in more than a decade -- kicked off in September in Hollywood, California, and is set to conclude next week in St. Petersburg, Florida. ET's Keltie Knight caught up with the "Ain't No Other Man" singer last month, where she dished about what it's like touring with Summer and, occasionally, her 10-year-old son, Max, whom she shares with her ex, Jordan Bratman.
"I mean, it's a lot of extra work, but it's amazing. It's actually why I was hesitant [to tour] because it's a lot to juggle, so many hats and so many things at the same time," she revealed. "It's different from touring when you're 21 years old. It's very narcissistic, and all you think about is yourself. All you have to think about is yourself, and now you're thinking about the blankies and the favorite stuffies and it's all the mom stuff."
"But, you know, it's honestly just definitely in her blood. She has surprised me," she added of Summer. "My son comes in and out, and he's a trooper too -- as long as he has his Fortnite here and there."
Christina Aguilera in the 1990s
Christina Aguilera in the 1990s
Christina Aguilera pictured at the opening of Millennium Village at Epcot, Walt Disney World in Orlando, Florida on September 30, 1999. (Photo by Walter McBride/Corbis via Getty Images)
369630 01: Singer Christina Aguilera poses February 23, 2000 at the 42nd Annual Grammy Awards in Los Angeles, CA. Aguilera won the Best New Artist Award after her first #1 single 'Genie In A Bottle' stayed atop the charts for five consecutive weeks and rocketed the album to #1 upon its release in August 1999. (Photo by Barry King/Liaison)
Singer Christina Aguilera. (Photo by Dave Allocca/DMI/The LIFE Picture Collection/Getty Images)
Christina Aguilera 1999 Billboard Awards (Photo by Chris Walter/WireImage)
UNIVERSAL CITY, CALIFORNIA - JUNE 1998: American pop singer Christina Aguilera poses for a June 1998 portrait in Los Angeles, California. (Photo by Bob Berg/Getty Images)
Christina Aguilera during Christina Aguilera File Photos - Record Party to celebrate release of her fist album 'Christina Aguilera' in 1999 at Private Home in Hollywood, California, United States. (Photo by L. Cohen/WireImage)
THE TONIGHT SHOW WITH JAY LENO -- Episode 1999 -- Pictured: (l-r) Musical guests Ricky Martin, Christina Aguilera with host Jay Leno on February 13, 2001 -- (Photo by: Paul Drinkwater/NBC/NBCU Photo Bank via Getty Images)
374507 01: 12/8/99 Las Vegas, NV. Christina Aguilera at the 1999 Billboard Music Awards. Photo by Brenda Chase Online USA, Inc.
368077 04: Singer Christina Aguilera poses April 14, 2000 at the Essence Awards in New York City. Christina Aguilera's first #1 single 'Genie In A Bottle,' stayed atop the charts for five consecutive weeks and rocketed the album to #1 upon its release in August 1999. (Photo by Laura Walters/Liaison)
360836 03: Pop Sensation Christina Aguilera Carves Turkey For The 'Big Brother-Sister' Organization November 24, 1999 At The Harley Davidson Cafe In New York City. (Photo By Arnaldo Magnani/Getty Images)
HOLLYWOOD - NOVEMBER 14: Singer Christina Aguilera attends the 10th Annual Disney's American Teacher Awards on November 14, 1999 at the Pantages Theatre in Hollywood, California. (Photo by Ron Galella, Ltd./WireImage)
Christina Aguilera during The 1999 MTV Video Music Awards at Metropolitan Opera House in New York City, New York, United States. (Photo by Ke.Mazur/WireImage)
Christina Aguilera at the 1999 Teen Choice Awards in Los Angeles. at the 1999 Teen Choice Awards at in Los Angeles, California. (Photo by Jeff Kravitz/FilmMagic)
Christina Aguilera during Christina Aguilera Archive Images At a Photocall at the Chelsea Hotel at Chelsea Hotel in London, Great Britain. (Photo by Fred Duval/FilmMagic)
Christina Aguilera during Christina Aguilera in Concert at The Greek Theatre in Los Angeles, California, United States. (Photo by SGranitz/WireImage)
SANTA MONICA, CA - AUGUST 1: Singer Christina Aguilera attends the First Annual Teen Choice Awards on August 1, 1999 at the Barker Hangar, Santa Monica Air Center in Santa Monica, California. (Photo by Ron Galella, Ltd./WireImage)
Christina Aguilera, Christina Aguilera (Photo by Brian Rasic/Getty Images)
Christina Aguilera in New York City, New York (Photo by James Devaney/WireImage)