He did the same thing at pretty much every concert he has done, it's just acting.
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This was a staged moment by Michael & Randy. It wasnt real. Michael often does things like this. For example, Slash not getting off stage and MJ trying to get him off, MJ & Slash did this routine several times at other shows. Michael & Randy did this same routine on the Sept 7 & 10 2001 shows of 30th Anniversary.
He did play Beat It at Michael Jackson's 30th anniversary concert. He also played other original songs for Michael like Give Into Me and Dirty Diana.
Album-November 30, 1982. Single-January 23, 1984.
The name of the brunette dancer is unknown.
He is doing a 30th year anniversary tour with his 10 piece band