Madonna stunned fans when she exposed a 17-year-old's breast on stage, but the teenager insists she wasn't offended by the incident.

In footage of her Rebel Heart Tour show in Brisbane, Australia, on Thursday night (17Mar16), Madonna is seen inviting aspiring model Josephine Georgiou on stage before announcing to the crowd: "She's the kind of girl you just want to slap... on the a*s." The Material Girl then pulled Josephine's top down - exposing her left breast to thousands of shocked fans. As Josephine quickly pulls up her strapless top, Madonna apologises, saying: "Oh s**t. I am so sorry, sexual harassment. You can do the same to me."

Despite the controversy surrounding the incident, Josephine insists she has no intention of launching legal action against the 57-year-old singer, telling the Australian Courier-Mail newspaper: "Seriously, why would I sue Madonna for the best moment of my life?"

She was also quick to brush off rumours that the incident was staged for the crowd at Brisbane's AU Entertainment Centre. Insisting that she was randomly chosen from the crowd, she admitted she had been wearing an ill-fitting corset belonging to her mother, and had to adjust it onstage as the star spoke to the crowd.

"Only I get to decide if I’m humiliated or not. Why would people assume I am humiliated by my own breast, nipple or body?" she insisted. "It was the best night. She was calling me a Victoria’s Secret model the whole time I was on stage, which is so flattering.

"It’s hilarious to me how much of a big deal it is to everyone. People just need to understand I was on stage in front of Madonna, I was looking her in the eyes and most people would just melt into a pool on stage, so it was only because I was standing in front of her that I looked so surprised."

Madonna's recent shows have been surrounded in controversy after the singer turned up to several of her shows late and even, reportedly, under the influence of alcohol. Many have alleged it could be that the singer is struggling as she attempts to balance her work life and her battle with ex-husband Guy Ritchie over custody of their 15-year-old son Rocco.

Commenting on the controversy British TV journalist Piers Morgan tweeted: "Madonna is in total meltdown. She needs to cancel this tour ASAP."

The Rebel Heart tour concludes at Sydney's Olympic Park this weekend (19-20Mar16) with the final gigs being filmed for a DVD.

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