Maren Morris Joins Mt. Joy Onstage at Sold-Out Madison Square Garden Show to Perform 'Highway Queen' — See the Video!

The band played the iconic New York City venue for the first time on Sept. 28

As Mt. Joy played in front of a sold out Madison Square Garden, they invited a special guest to soak up the special moment alongside them onstage.

The band, who is made up of Matt Quinn (guitar and vocals), Sam Cooper (guitar), Michael Byrnes (bass), Sotiris Eliopoulos (drums) and Jackie Miclau (keyboard), stopped in New York City on Saturday, Sept. 28 for their first show at the iconic venue.

As they kicked off the second act of their set performing in front of a sea of light up bracelets, Quinn asked the crowd to get “very loud” to welcome Maren Morris to the stage to sing their song “Highway Queen.”

Related: Maren Morris Has Been 'Deeply Creative' amid Divorce and Pivot Out of Country Genre: 'There's a Lot to Write About'

While the song was originally released back in March, a new version of the track featuring “The Bones” singer dropped Sept. 13. — a collab they teased on their respective Instagrams earlier in the month.

"We are so grateful for Maren,” Quinn tells PEOPLE. “She’s got such an incredible voice, and she just makes that song so much better. Her harmonies live in The Garden brought that song to life like never before. It was really special for us… she’s the best!"

Throughout the show, Quinn called performing at the famous arena a “dream” and thanked their fans for making it happen. After the performance, the band took to Instagram to share that the experience was “probably the best night of our lives.”

Earlier in the night, the band also welcomed up violinist Lindsey Stirling to perform a rendition of their song “Dirty Love."

Related: Mt. Joy's Matt Quinn and Sam Cooper Talk Band's Rise, New Music — and Their Friendship with Dave Matthews (Exclusive)

Quinn and Cooper sat down with PEOPLE last year and opened up about being able to stop and take in all that that band has accomplished so far.

"Now there is a bit of like, whoa, this has really become a thing," Quinn said. "And it's definitely really exciting. It just feels good because I think everyone in this, not just Sam and I, put so much time and effort and traveling around in a van for years and girlfriends breaking up with you and all the sort of sacrifices and whatever else. To then see it all kind of work out, at least for now, is a really good feeling."

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