
On May 18 1994, Madonna made a surprise appearance on NBC-TV’s The Tonight Show, hosted by Jay Leno.
Watch this classic Madonna interview here:

On May 18 1994, Madonna made a surprise appearance on NBC-TV’s The Tonight Show, hosted by Jay Leno.
Watch this classic Madonna interview here:
On March 31 1994, Madonna guested on CBS-TV’s Late Show With David Letterman: during the 20-minute interview, she said the word “fuck” 13 times, made obscene remarks and wisecracks, refused to leave the set and was rude to her host; her lewd and vulgar behavior caused a public and media controversy and Letterman also expressed his displeasure by her appearance on his show.
Watch the video!

On March 11 2015, Madonna was interviewed by Howard Stern on SiriusXM.
Here are some tidbits we learned about Madonna during the interview, according to Rolling Stone magazine:

On November 26 2003, Madonna appeared on The Tonight Show (with host Jay Leno) at NBC Studios, in Burbank, California.
Madonna handed out gifts to new dad David Letterman when she appeared on the Late Show earlier in the month, and she didn’t want to leave his TV rival Leno out.
“I brought you some Thanksgiving presents.”
Madonna handed the TV host a baseball jersey and a framed illustration from her new children’s book Mr. Peabody’s Apples.
Most odd about this appearance is that Remixed and Revisited was released on November 24 and Madonna never mentioned it. The Nothing Fails single was also released on November 21, and an upcoming single for Love Profusion (December 8) was also never mentioned. Very few artists would skip mentioning new releases in such a high profile interview. It makes me wonder how involved Madonna was with these releases – or if Warner Bros. was forcing the singles and the remix collection to be put out. All Madonna chose to talk about was her marriage to Guy, her father’s winery, her children’s books and Kabbalah.
For the record, I think this is an adorable interaction between Madonna and Jay. She’s funny, sweet and articulate.
On November 3 2000, Madonna guested on CBS-TV’s Late Show With David Letterman to promote the Music album. She performed an acoustic version of the album’s second single, Don’t Tell Me.
The performance featured several firsts for Madonna: her first live performance to promote the Music album; her first TV appearance following the birth of her son Rocco; her first performance on guitar since her pre-fame days in NYC band Emmy; her first unplugged/acoustic live performance; her first live performance with longtime guitarist Monte Pittman; and her first (and only) musical performance on the Late Show.
Despite being promoted as such, it was not, however, Madonna’s first time back to the Late Show after her infamously censored 1994 appearance. She had made a brief, unscheduled visit to the set to drop off a valentine for Letterman during a 1995 taping of the show.