Video of the jam has been posted online. Guy did double-duty on the evening, opening the Stones' show at the city's annual event, which features more than 500 artists over an 11 day period.

The Summerfest stop at the sold-out 25,000-capacity Marcus Amphitheater marks the smallest venue on the band's Zip Code North American stadium tour, which was booked to promote the expanded reissue of their 1971 classic, "Sticky Fingers."