Madonna rode in on a saddle and a crucifix on Sunday night when she finally kicked off the opening night of the European leg of her world tour.

The queen of pop entertained a crowd of 59,000 at the Millennium Stadium in Cardiff with an erotically-charged performance.

It was the first time her Confessions tour had been seen outside America and in a stadium.

She said: "It's also our first show in Europe. I'm sick of people sitting down in concerts. It's really boring."

Fans saw her sing from a crucifix and the performance contained provocative dance routines.

There were rumours of poor ticket sales, but the small patches of empty seats were filled by dancing fans.

Madonna opened with the disco classic I Feel Love, appearing before her public from a giant disco ball lowered from the stadium's closed roof.

Fans got Saturday Night Fever Madonna, leather-clad guitar-playing Madonna and riding school Madonna.

She gyrated on a riding saddle while it floated around the stage on a pole.