The Tony award winning musical genius, took a break from his hit show Hamilton to join Late Late Show James Corden for another rendition of Crosswalk Musical!
This time, the actors came together for a one off performance of the musical Hair.
Miranda and Corden sing, dance, and, at one point, get naked as commuters....uh...enjoy the show.
If you thought Hamilton was a groundbreaking show, just wait till you see this: