The Jonas Brothers welcomed Joe Jonas’ ex-girlfriend, Demi Lovato, onstage for a surprise performance at their first concert on their Jonas20: Greetings from Your Hometown tour at New Jersey’s MetLife Stadium on Sunday night.

The pair sang "This Is Me" and "Wouldn't Change a Thing," 17 years after the Disney Channel original movie was released.

Joe, Kevin and Nick of the Jonas Brothers and Lovato starred in the 2008 Disney Channel Original Movie, Camp Rock, and it’s 2010 sequel Camp Rock 2: The Final Jam, where Joe and Lovato play love interests onscreen. The pair also dated in real life in 2010.