Yes, that is Madonna with her foot on the ceiling of James Corden's car while sitting, and that should give you an insight into just how much of a perfectly irresponsible but entertaining driving buddy she is.
Madonna joined Corden for a spin around New York City in the latest episode of 'Carpool Karaoke', and, between vogueing, twerking and high-kicking the ceiling to 'Vogue', 'Bitch, I'm Madonna', 'Papa Don't Preach', 'Express Yourself' and 'Ray of Light', she also admitted to "full French kissing" Michael Jackson one time, who she got to "loosen up with a glass of Chardonnay".
They even had time to belt out some 'Don’t Cry For Me Argentina', which you know Corden was just gagging for.
All in all, a very successful 'Carpool Karaoke'.