Beyonce and Jay Z marked five years since Michael Jackson's death on Wednesday (25Jun14) by performing one of his hits on the first night of their tour.

The couple, which married in 2008, kicked off their co-headlining On The Run trek on Wednesday at the Sun Life Stadium in Miami, Florida and they paid tribute to the King of Pop by playing Jackson 5 hit I Want You Back during the show.

Earlier that day, Beyonce marked the five year anniversary by writing in a post on her website, "Michael Jackson changed me, and helped me to become the artist I am thank you Michael. Love always, B."

The pair opened the first show of the tour with their 2002 collaboration '03 Bonnie & Clyde, with Beyonce wearing a plunging fishnet leotard and balaclava. The 42-song set list switched between the stars' own solo hits and duets, and the concert ended with Forever Young, which was accompanied by on-screen footage from their wedding and home videos of their two-year-old daughter Blue Ivy.

The tour's next stop is in Cincinnati, Ohio on Saturday (28Jun14) and will continue through to September (14).