Midway through her hit-filled set, the singer became emotional as she spoke to the huge crowd about how much finally being on the pyramid stage meant to her.
Fighting back tears she said: ““In 2005 I was meant to be here.
“Circumstances meant that I did not make it. I wished things were different, but life is what it is.
“We’re all here in this moment.”
Speaking afterwards, Kylie told Jo Whiley on BBC Radio 2 that she thought she had “missed the boat” at the festival.
“I never thought I would be offered this particular… the teatime slot, it’s just amazing,” she said.
“I had all these emotions. I had to really work hard to pull that back.
“Don’t go to the ugly cry! Don’t do it!
“I really could have lost it but I thought if that happens I won’t be able to come back.”
The star went on: “It doesn’t make me think just about my story, about having a cancer diagnosis and suddenly the world caving in, or seemingly caving in around you, but it always makes me, and especially at that moment, so many people, think that we are all dealing with stuff.
“Everyone is dealing with stuff. You have been, or you will be.”
“That’s just part of life,” she added.
A huge crowd turned out to welcome the singer back to Worthy Farm, singing in unison to hits like I Should Be So Lucky, Especially For You, Hand On Your Heart, On A Night Like This, Love At First Sight, All The Lovers and Kids, cheering as she shot pride-coloured confetti into the air.
There were guest appearances from Chris Martin on a flamenco-tinged Can’t Get You Out Of My Head and Nick Cave, for the gothic murder ballad Where The Wild Roses Grow.
She also paid tribute to Glastonbury’s spiritual godfather, by mashing up David Bowie’s Fashion with her number 1 hit Slow.
And this was a Kylie show, so there were also four costume changes, from the white flared trouser suit of her opening number, a purple designer frock, a red boiler suit and a shimmering gold dress for the finale.
Watch Kylie perform Spinning Around in the video below.