The Pro Football Hall of Fame held its first "Concert for the Legends" Friday night, August 7, 2015 in Canton, Ohio. Aerosmith wrapped up their "Blue Army" tour at the Tom Benson Hall of Fame Stadium in Canton. Living Colour opened the show.

The Minnesota Vikings cheerleaders were in town to cheer on the Vikings as they took on the Pittsburgh Steelers in a preseason game Sunday night.

Of course, Steven Tyler invited the cheerleaders on stage. They danced during "Walk this Way" while Corey Glover of Living Colour shared vocals with Tyler.

Check out the video below. In case you didn't know, Kristen and Karmen Nyberg, daughters of Kevin and Linda Nyberg (yes, the Nyberg Ace Hardware Nyberg's) are Minnesota Vikings cheerleaders.