Back in the 90's, Madonna made it perfectly clear that she and His Royal Badness did not get along. Probably a result of them dating in the 80's.  She once referred to him as a "little troll" and complained that he opted "not to eat during a dinner date", "just sip tea daintily". In 2007, His Purple Highness dismissed Madonna during a London gig saying he had more "hits than she had kids".  Needless to say, she didn't like that.

Recently, Madonna was a special guest at Prince's January 18 "Welcome 2 America"  concert at Madison Square Garden proving that time heals all wounds.