Miley Cyrus wanted to be MTV memory

Miley Cyrus wanted to "make history" with her VMA appearance.

The star opens up for the first time about the routine that got everyone talking in a new documentary which is currently being filmed. Miley performed with Blurred Lines singer Robin Thicke, wearing a skimpy skin colour latex underwear set at the MTV Video Music Awards recently. Her sexy moves have received a huge backlash, and she knew it would get people talking.

"Me and Robin [Thicke,] the whole time said, 'You know we're about to make history right now,'" she told MTV News.

During her time on stage, Miley danced suggestively around Robin with a giant foam finger.

Miley finds it surprising that people are still so interested in discussing her raunchy twerking at the awards ceremony.

"What's amazing is I think now, we're three days later and people are still talking about it. They're over thinking it. You're thinking about it more than I thought about it when I did it. Like, I didn't even think about it 'cause that's just me," she said.

The scathing comments she's since received aren't too much of a worry for the 20-year-old.

And she's certainly not the first star to cause a stir at the VMAs.

"I don't pay attention to the negative because I've seen this play out so many times. How many times have we seen this play out in pop music?" she asked.

"Madonna's done it. Britney's done it. Every VMA performance, that's what you're looking for; you're wanting to make history."