Madonna performs during her Rebel Heart Tour concert at Studio City in Macau. REUTERS/Bobby Yip

Madonna could face sexual assault charges after a bizarre concert video filmed during the singer’s Brisbane Rebel Heart show on Friday night went viral.

Josephine Georgiou, aspiring Gold Coast model, joined Madonna onstage during the concert. When Madonna yanked the 17-year-old’s corset, the young girl's breast was accidentally exposed in front of the audience. She also appeared to simulate a sex act with the teenager on stage.

“She’s the kind of girl you just want to slap on the ass. And pull,” Madonna said, as she yanked down the girl’s strapless top to briefly reveal one of her breasts, while the crowd kept on cheering, The Guardian reports.

It was caught on video and has now gone viral.

Georgiou explained that she was told to get up and dance and that Madonna would spank her, when asked if she knew what was going to happen on stage. She also made it clear that she does not have any intention to press charges. The move could constitute sexual assault if done without the consent, according to Australian lawyers.

“Seriously, why would I sue Madonna for the best moment of my life?” the teenager told Brisbane’s Courier Mail newspaper. “It was the best night.”

“Only I get to decide if I’m humiliated or not," she continued. "Why would people assume I am humiliated by my own breast, nipple or body?”

The teenager added that it was nothing, just a funny slip-up and if anything, it was a bonding moment with Madonna.

"It was so fine. Like, it was nothing. It was not a big deal. It's just my boob, it's just part of my body, its just more of me."