The former Gladiators star flashed his incredibly muscly torso in just a pair of tight black leather trousers during the steamy performance with The American Idol contestant at the BET Awards.
The 32-year-old couldn't resist feeling David's chest as she belted out some of her biggest hits while he strutted his stuff in high-tops trainers.
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Tempting: Jennifer touched the bare chest of back up dancer David McIntosh who stripped off his shirt on stage
He's doing well! The former Gladiators star paraded around on stage in a pair of black leather trousers and high-top trainers
The ex-Marine - who appeared in Jennifer's video for Walk It Off - made sure he put on a show after sharing a number of snaps with fans on Twitter during the build-up.
In one post, while posing in an unzipped hooded top and baseball cap, he commented: 'Yesssss team J-HUD getting ready for the BET awards #jhud#bet time to put a show on'.
After writing on Saturday: 'Rehearsing for the BET awards make sure you watch it tomoz, gonna be summit special'.(Sic)
Look away Kelly: Jennifer touched the British star's heavily tattooed chest while sporting a pleated leather dress
Fancy seeing you here! The ex-Marine appeared topless in Jennifer's video for Walk It Off earlier this year
Jennifer Hudson has divided the Fashion
Finder offices this morning. Some people love this little leather
DSQUARED2 dress, others loathe it. Here's the thing... it might just be a
tiny bit too tight, too short and too S&M for our liking.
So yes, it's a great stage dress, as are the matching leather over-the-knee boots, but we do hope J Hud keeps this to perform in only, and not for any red carpet appearances.
Having said all this, we do think that this skater shape on Jennifer is a great one, and shows off her gorgeous slimmed down figure. We have seen her in this fit-and-flare shape many times before, so she knows it works for her.
Dean and Dan Caten - the brother design duo behind label DSQUARED2 - started their career working for Versace, before launching their own label in 1994. All their collections burst with energy and vibrant colours, which is also a characteristic of the Versace house too.
Leather has been a big trend for a long time now, and there's always loads of it in a DSQUARED2 collection. This dress is actually made for Jennifer, but you can shop more options below.
So yes, it's a great stage dress, as are the matching leather over-the-knee boots, but we do hope J Hud keeps this to perform in only, and not for any red carpet appearances.
Having said all this, we do think that this skater shape on Jennifer is a great one, and shows off her gorgeous slimmed down figure. We have seen her in this fit-and-flare shape many times before, so she knows it works for her.
Dean and Dan Caten - the brother design duo behind label DSQUARED2 - started their career working for Versace, before launching their own label in 1994. All their collections burst with energy and vibrant colours, which is also a characteristic of the Versace house too.
Leather has been a big trend for a long time now, and there's always loads of it in a DSQUARED2 collection. This dress is actually made for Jennifer, but you can shop more options below.
* PRICES MAY NOT BE AS ADVERTISED
Close encounters: The pair put on a heated performance for the crowd at the the bash hosted by Chris Rock
Jennifer
meanwhile wowed with her performance, stepping out on stage in a bondage
inspired leather number and kinky heels that showed off her amazing
figure.
The
Dream Girls actress performed a lively session, including her upcoming
song It's Your World, while showing off her sensual side in an outfit
that was certainly a far cry from her Idol days.
Jennifer not only wowed the audience, but host Chris Rock, who remarked on the beauty's impressive pipes and weight loss. 
All fired up: David's revealing costume also included a silver belt while Jennifer wore over-the-knee boots
Coordinated: David's trousers included multiple silver zips and skinny cut
We can see you! The star stripped off his shirt while on stage before joining the singer at the front
Hot stuff: At one point David appeared to check out Jennifer's curvy figure as he danced around her
'She
was great looking, she's great looking now. Honestly, shes always been
great looking. And one thing she didn't lose at WeightWatchers was her
voice,' the comedian said as he introduced the singer.
The stunner opened with Walk It Out, before revealing her yet-to-be-released song, It's Your World.
The song
had been teased by Jennifer a day prior to the awards show, who reminded
her followers that a new song would be performed at the event. 
Backstage: Earlier in the day, David shared this
snap, captioning it: 'Yesssss team J-HUD getting ready for the BET
awards #jhud#bet time to put a show on'
Poser: David regularly shares photos with his Twitter followers while showing off his impressive physique
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