For years, Christina Aguilera and Lady Gaga have been deemed rivals, however, on the season finale of The Voice there was clearly no animosity.

The two superstars took the stage to perform together for the first time ever on Tuesday night. Aguilera and Gaga held hands and drank champagne as they sang the latter's new hit Do What U Want. The surprise collaboration was also put together at the request of Gaga herself.

"Well I was really excited because The Voice called and wanted me to perform on the finale and I obviously can't refuse," Gaga said. "Such an amazing show and I said I'll do it, but I want to know if Christina will do it with me."

The Voice coach was flattered by the suggestion and didn't think twice about performing with the 27-year-old.

"This is the first time we've ever met and I have to say, when I heard she wanted to collaborate I said, 'Of course! Lady Gaga!,'" Aguilera said. "She's such an innovative artist and a risk taker and as a fellow female, I have so much respect for that."

Aguilera also took to social media to praise Gaga a little more and tweeted: "She is such a powerhouse vocalist and I was honored to join the stage with @ladygaga tonight on #TheVoice!"

The rumored feud between the two began when critics accused Aguilera of trying to imitate the newcomer. When asked about the speculation by The Los Angeles Times in 2008, Aguilera said she was unaware of who Gaga was.

"This person [Lady Gaga] was just brought to my attention not too long ago. I'm not quite sure who this person is, to be honest," she said. "I don't know if it is a man or a woman. I just wasn't sure. I really don't spend any time on the Internet, so I guess I live a little under a rock in that respect."

Gaga opened up about their apparent conflict on Bravo's Watch What Happens Live in September and apologized to Aguilera.

"I'm so sorry for anything that anyone ever said to her because of my existence," she said. "I hope that she never felt anyway about it because when I was 15, I was singing I Turn to You at the top of my lungs trying to hit all her notes."

Tags: Lady Gaga Christina Aguilera