Watch Rolling Stones Play 'Champagne and Reefer' With Buddy Guy

The blues icon opened for the Stones in Milwaukee, and later joined them on the Muddy Waters classic

The Rolling Stones brought out a special guest Tuesday night at Milwaukee's Marcus Ampitheater for their only amphitheater date of their North American Zip Code. Seven songs into their Summerfest set, opening act Buddy Guy came onstage to join the band on "Champagne and Reefer." They first played the Muddy Waters cover with Guy at New York's Beacon Theater in 2006 (as seen in the Martin Scorsese documentary Shine A Light) and have since performed it with John Mayer and Eric Clapton.

The other big surprise of the night came immediately afterwards when they played "Doo Doo Doo Doo Doo (Heartbreaker)" for the first time since July 2007. Fans voted on the track via the Internet after picking "Paint It Black," "Dead Flowers," "Some Girls" and "Rocks Off" at other recent shows. 

The Zip Code tour resumes Saturday night at Arrowhead Stadium in Kansas City, Missouri. It wraps up July 15th Le Festival d'ete de Quebec in Quebec City. The band embarked on the Zip Code tour in support of a new deluxe edition of Sticky Fingers, which has inspired them to play rarity "Moonlight Mile" at many of the shows.

Their plans beyond that are unclear, though they are considering a South American tour later this year. "I'm looking at what the options are," Mick Jagger told Rolling Stone. "We haven't etched it in stone." No matter what happens, the Stones frontman isn't contemplating calling it a day, even though he turns 72 next month. "I'm thinking about what the next tour is," he said in April. "I'm not thinking about retirement."