“In 2005 I was meant to be here on this very stage,” she told the crowd.
“Circumstances meant that I did not make it. But I was watching from Australia.
“I wished things were different, but life is what it is, right?
“We're all here together in this moment," the former Neighbours star admitted.
Fighting back tears, she went on to address the cheering crowd.
"And gosh. It always dawns on me at a certain point in a show, I never know when it's going to be, but it is happening right now, that I realise not only that story, but our story.
"Our story, this 30 plus years together.
"All of our individual stories, and now our collective story," she said, clearly thankful to be back on the Glastonbury stage.
Her solid gold set was one of the most-talked about from the festival, and was packed with hit after hit, showcasing the best of her 30-plus years in the music industry.
Fans were treated to renditions of 'Spinning Around', 'Especially for You', 'Step Back in Time', 'Locomotion', 'Je Ne Sais Pas Pourquoi', 'Hand on Your Heart'... the corkers just kept on coming.
Coldplay's Chris Martin joined Kylie to perform a duet of 'Can't Get You Out of My Head'.
It was a special moment for both stars, as Coldplay had covered the song in homage to the singer back in 2005, when they stepped in to perform at the festival in her place.
The Melbourne-born star was also joined by Nick Cave, and the pair performed an intimate version of 'Where the Wild Roses Grow' together.
When Kylie's epic performance came to an end, the star paid tribute to her fans, with a poignant post to her Instagram.
"Thank you SO MUCH! Words cannot describe what today meant to me," she said.