On Tuesday's episode of the show, host James Corden, 37, welcomed guests Tituss Burgess and John Stamos, and the three got into a discussion about where they would (and wouldn't!) go if they could fly anywhere in the world.
Stamos, of course, said he would fly to "Kokomo, man." (The Fuller House star has regularly performed in concert with The Beach Boys since the mid-1980s.)
"Aruba, Jamaica, oh I wanna take ya – Bermuda, Bahamas ...," Stamos, 52, began to sing, before turning to Burgess: "You have a high voice, right? I have a very low voice."
"Give me the highest note you have," he urged Burgess, 37.
"Oh God, I can't do that right now!" the Unbreakable Kimmy Schmidt star replied.
RELATED VIDEO: 5 Reasons to Get Pumped for Unbreakable Kimmy Schmidt Season 2
Stamos didn't take no for an answer though, and teased the crowd: "You want to hear something from The Little Mermaid?" he asked. (Burgess played Sebastian the Crab in the Disney hit's 2007 Broadway adaptation.)
Though Burgess initially shook his head, the audience cheered loudly enough that eventually, he obliged and burst into his best rendition of "Kiss the Girl" – with a little harmonizing from Stamos and Corden, no less!
The Late Late Show with James Corden airs weeknights (12:37 a.m. ET) on CBS; Fuller House and season 2 of Unbreakable Kimmy Schmidt are now both streaming on Netflix.