Robin Thickehas addressed the controversy surrounding his raunchy performance withMiley Cyrus at the 2013 MTV VMAs.

The Blurred Lines star and Miley caused a stir at the bash last month (August 25) after the 20-year old [uuid=cb7e568b-0ee3-4660-8d4b-8b622464784d]twerked up against Thicke [/uuid]and danced suggestively with a foam finger.

When being quizzed about his steamy stint on stage with Cyrus, Robin revealed to Star that they had heavily rehearsed the performance and "knew what we were getting ourselves into."

He explained: "We're entertainers, and the VMAs [are] the perfect place for a little shock and awe.

"We kind of knew when we were in rehearsal and we were like, 'Okay, if you touch me with your foam finger all over my crotch, obviously a few people are going to have something to say about this'. But that was the whole point!"

Thicke added: "The whole point was to excite and provoke and entertain. I thought it was silly and funny. She was being humorous and naughty, but it wasn't sexually charged at all."