The two singers performed as part of a huge festival-themed extravaganza at Hampden Park, where they were watched by guests including David Cameron and the Earl and Countess of Wessex.
Lulu opened proceedings, sporting Rod Stewart-esque tartan trousers and a sash, by performing ‘Shout’ before Deacon Blue took the stage.
Later, Kylie - whose native country Australia will host the next Commonwealth Games - wowed the audience a collection of her hits, including ‘Spinning Around’ and ‘The Locomotion’, alongside tracks from her latest album ‘Kiss Me Once’.
However, it wasn't all smooth-running for Kylie, whose performance was crashed by Aussie athlete Gieneve LaCaze.
LaCaze, who competed in the steeplechase earlier this week, was celebrating her 25th birthday and just couldn't resist taking the chance to shimmy over to Kylie.
“The opportunity to dance with Kylie Minogue doesn’t come around every lifetime, so I took it,” she told Brisbane radio station B105. “I’m yet to find out if I got in trouble.
“I’ll probably find out in the next couple of hours but I’ll just embrace it while I haven’t gotten in trouble yet.”
Later on, Kylie was joined by Lulu and a selection of other performers for a rendition of ‘Auld Lang Syne’.
Kylie and co were accompanied by over 100 volunteer performers at the Closing Ceremony, where the Royal Edinburgh Military Tattoo were also represented.
Check out all the photos from the Closing Ceremony below...