The singer duetted with Mick Jagger on 'Gimme Shelter', following Mary J Blige's surprise appearance at the band's first show earlier in the week.
Eric Clapton also came on stage with the Rolling Stones for a rendition of 'Champagne And Reefer', after being rumoured to appear.
"We're more relaxed tonight, we'll get to play the whole thing," Jagger told the audience, referring to their late fine earlier in the week.
"We had to pay £100,000 because we went on too long. That's like... Ten seats," he joked, according to NME.
The Rolling Stones will fly to the US for a single date in Brooklyn on December 8.
The remaining two shows take place at Newark's Prudential Centre on December 13 and December 15.
In pictures - The Rolling Stones' first night at London's O2 Arena:
Mick Jagger of The Rolling Stones performing at the O2 Arena in London, as part of their 50th anniversary series of concerts
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Copyright: PA Images Yui Mok/PA Wire
