The 43-year-old rapper, whose real name is Marshall Mathers, came on stage after the 29-year-old Canadian singer teased the audience about a guest appearance during his performance, reported Mirror.
"Do you think we'll be able to look back and say, 'Do you remember that one night in Detroit?'" Drake told the crowd.
Eminem then came on the stage for his third appearance in concert in eight months.
Drake introduced the star, saying, "Make some noise for the greatest rapper to ever get on a microphone."
"It's an honour to share the stage with this man right here," he said.
The rapper also shared a photograph of him alongside Drake on his Instagram, captioning the post, "Views from The Joe. #WelcometoDetroit (sic).
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