Model Kendall Jenner did not invite all her reality TV show family to the Victoria's Secret Fashion Show on Tuesday (10Nov15) because she was so scared about tripping over.

The 20 year old was a last-minute addition to the catwalk line-up alongside her best pal Gigi Hadid for the lingerie brand's 20th anniversary extravaganza at the 69th Regiment Armory venue in New York City.

Kendall only invited her parents, Kris and Caitlyn Jenner, to be in the audience even though her half-sisters, Kim, Khloe and Kourtney Kardashian, requested seats because she did not want to add pressure on herself for her debut underwear show.

"It's kind of strange to say it, but I'm more nervous about tripping or slipping than I am to be wearing lingerie, but it'll all be good," she told E! Online backstage before the show. "I kept it (guest list) small. I didn't want all that pressure on me... Everyone kept asking and I was like, 'You know what, maybe there'll be a next time. Maybe then. Because right now I'm really nervous; I'm peeing myself!"

Kendall modeled pieces including a blue sequinned bra and pant set and a multi-colored creation with a flamenco-style skirt.

Other catwalk stars include Adriana Lima, Behati Prinsloo and Lily Aldridge, who donned the $2 million jewel-encrusted fantasy bra.

Performers included Ellie Goulding, The Weeknd and Selena Gomez, who wore a leather Louis Vuitton maxi dress and colored contact lenses while walking the red carpet.

The catwalk special airs on 8 December (15).