Paul McCartney and David Letterman Paul McCartney and David Letterman

Paul McCartney, in his first-ever appearance on the Late Show with David Letterman, performed on the marquee of the show's Ed Sullivan Theater and reminisced about The Beatles' appearance there, 45 years ago, and the beginning and end of his friendship with Michael Jackson.

McCartney delivered a vibrant version of "Get Back" and a new song, "Sing the Changes," to thousands of fans who filled Broadway to watch the legendary singer perform.

Watch McCartney's full performance — even songs that weren't aired

See pictures of McCartney

See McCartney and Jackson together