Rihanna performs lap dance on female fan at Miami show

The 23-year-old performed a raunchy and overtly sexualised lap dance on a female fan who was brought on stage during a tour stop at Miami's Mariner Arena over the weekend.

Wearing a revealing white bondage leotard, the S&M songstress aggressively pushed the woman back before straddling her and thrusting her body over the bemused woman.

Two shirtless men brought the woman on stage and placed her on the edge of a round platform.

Rihanna then opened up one of the women's legs and pushed the other leg open with her knee.She then shoved the woman back so she is laying flat and jumped on top of her, straddling the woman between her legs and pinning her down.

The self-titled "rock star" then gyrated provocatively on the woman, giving her a lap dance to her song Skin from her new album Loud.

After the explicit dance, Rihanna then laid down next to the woman as the round stage revolved and went down, taking the two of them below the platform as the crowd continued to go wild.

The video was captured by a fan in the crowd who posted it on YouTube.

Rihanna has a history of highly-sexualised and provocative performances and also took it to another level during her Baltimore, Maryland performance on Saturday night.

She got temperatures rising as she slipped into a revealing pair of hot-pants and a bra and thrusted her way through her songs with some of her most risque dance moves yet.