Maggie Rogers Left Harvard Campus to Buy a Bustier at a Queer Sex Shop Before Going Onstage with Madonna (Exclusive)

"Getting a lap dance next to Madonna in front of 20,000 people was not on my 2024 bingo card," says Rogers, who just released her new album, 'Don't Forget Me'

Maggie Rogers is reminiscing on her time onstage with the Queen of Pop.

In January, the singer-songwriter — who just released her third album, Don't Forget Me — joined Madonna onstage at a Boston stop of her Celebration Tour to help the pop icon judge the ballroom portion of the show during "Vogue."

"I literally got the call three hours before," Rogers, 29, tells PEOPLE. "I'm a Harvard fellow right now, so I was living in Cambridge at the beginning of the year, spending time on campus. I was going to the show, but I only had my school clothes, so I literally got the call that she wanted me to come onstage, and I was like, 'What do I do?'"

And so, Rogers had to scramble to put together the perfect look for the occasion.

"If you look at that video, I'm wearing a pair of suit trousers, but I paired it with this bustier that I bought," she recalls. "I immediately went to the queer sex shop down the street in Cambridge that's been there since the '60s, and they totally decked me out."

Looking back, "I'm going to be processing this one for a long time," Rogers adds. "It was just... It's Madonna! So much of her music also influenced [her 2022 album] Surrender, and getting a lap dance next to Madonna in front of 20,000 people was not on my 2024 bingo card, but I am so happy that it's something that I've checked off."

Related: Maggie Rogers on Writing an Album in 5 Days, Turning 30 & Embracing Her 'Sparkly' New Single Life (Exclusive)

Rogers first rose to fame when her breakout song "Alaska" left Pharrell Williams speechless when he visited her New York University music production class in 2016. In the eight years since, she's released three albums and earned a Grammy nod for Best New Artist — and found some famous fans along the way, including her friend Jane Fonda, as well as folk hero Joan Baez, whom she performed with at Carnegie Hall in February.

“I feel so grateful to this older generation of women who have just been so fearless," Rogers says. "My career doesn’t exist without these women. I feel so lucky to be in any proximity to be able to learn from them."

And Don't Forget Me is an album that her idols would be proud of.

"I turn 30 at the end of April, and in so many ways, this record is this big woven tapestry of all these stories from my 20s," says Rogers, who will embark on her first-ever headlining arena tour this year. "I'm at this place in my life where I really trust my creative practice and my creative flow, and I know that I'm an artist, and I don't need to prove that to myself anymore."

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