The singer came dressed in a tiny red dress, complete with a cut out waist segment, dailymail.co.uk reports.
The 42-year-old sang her new song “Better Than Today” and was cheered on by her younger sister Dannii Minogue, one of the judges on the show.
After her performance, she told host Dermot O’Leary that it was great to be back on the show.
She has already performed on the coveted television show “X Factor” and has also helped sister Dannii pick her acts.
“We just want tomorrow to be Better than today, Sunday night… here I come!” she said.
Kylie is promoting her new album “Aphrodite”.
“People have been describing it as a return to the dance floor. I don’t know how long I was away from the dance floor, but it really is. It is a really ‘dancey’ album,” she said.