In U2's continued takeover of New York City's Madison Square Garden, they held nothing back at last night's (July 22) gig: Not only did Jimmy Fallon join the rockers on stage for the classic "Desire," but the Roots -- house band for The Tonight Show Starring Jimmy Fallon -- backed U2 on "Angel of Harlem":

Of course, the love affair between Fallon and U2 is nothing new; last year, before Bono was involved in a terrifying bicycle accident in Central Park, the quartet was scheduled to spend an entire week on The Tonight Show as the musical guests. Making up for lost time, U2 recently appeared on the TV program and, well, basically took it over -- you can catch up here.

U2 continue their Madison Square Garden residency for the next several days, wrapping things up on July 31. They then head to Europe at the beginning of September -- you can find their full tour itinerary at their official website.

U2 -- Setlist, July 22, 2015
"The Miracle (Of Joey Ramone)"
"Out of Control"
"I Will Follow"
"Iris (Hold Me Close)"
"Cedarwood Road"
"Song For Someone"
"Sunday Bloody Sunday"
"Raised by Wolves"
"Until the End of the World"
"Even Better Than the Real Thing"
"Mysterious Ways"
"Desire" (with Jimmy Fallon)
"Angel of Harlem" (with the Roots and Jimmy Fallon)
"Every Breaking Wave"
"With or Without You"
"City of Blinding Lights"
"Bullet the Blue Sky"
"Pride (In the Name of Love)"

"Beautiful Day"
"Where the Streets Have No Name"

Exclusive: Marky Ramone Discusses "The Miracle (Of Joey Ramone)"