Last night (Oct. 20) at the BMO Harris Bradley Center in Milwaukee, Pearl Jam put on one of their signature marathon shows, clocking in at over three hours. This was the first time the band had played this particular venue, and by all accounts, they gave fans a night to remember.

The gig was full of surprises, including an unexpected appearance from Rick Nielsen. The legendary Cheap Trick guitarist joined the band a mere five songs into their set for a high-energy, stomping take on the timeless Who classic, 'Baba O'Riley.' It's hard to tell who is having more fun here: Pearl Jam, Nielsen, or the audience. All seem to be in a state of elation. Check out the performance in the video above.

Nielsen, no stranger to joining in when asked, recently sat in with the Foo Fighters on two separate nights during their week long stint on the 'Late Show With David Letterman.'

Pearl Jam delivered a 35-song set that, in addition to a laundry list of the band's own hits, also included a pair of Eddie Vedder's solo songs, and covers of Tom Petty's 'I Wont Back Down' and Neil Young's 'F---in' Up.'

This was the second to last show on the band's current tour, and they pulled out all the stops, including performing their 1998 album, 'Yield,' in its entirety. Playing records in their entirety is something rare for Pearl Jam to do live; in fact, their recent addition of 'No Code' to their set in the Quad Cities was only the second time they performed this feat.

Watch them rock 'In Hiding' -- a track from 'Yield' that was never released as a single, but still peaked at No. 13 on Billboard's Modern Rock charts -- below:

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