That's a concert he'll never forget! New footage emerges of Rihanna giving delighted male fan a lapdance on stage

PUBLISHED: 18:31, 7 June 2013 | UPDATED: 08:38, 8 June 2013

It looks like letting off steam at strip clubs has been a real learning curve for Rihanna.

In footage from a 2011 concert which has only just come to light, she can be seen performing a raunchy lapdance for a delighted male fan.

Wearing a black leotard and not much else, Rihanna selects a member of the audience to join her on stage.

Scroll down for video

Lucky boy: Rihanna gives a fan, identified as GJ Kooijman, a lapdance on stage in Holland

'Holland I might need some help on this part,' she says. 'Any fellas want to help me out?'

The audience surges forward, all keen to join their idol on stage.

Rihanna motions to her hunky male dancers which audience member she has selected and they help him to climb on stage, escorting him to a raised area.

Raunchy: Rihanna stops singing to ask for help from the audience

Raunchy: Rihanna stops singing to ask the audience for some 'help'

Scantily clad: Rihanna was wearing just a leotard and a pair of tights for the performance

He looks delighted as Rihanna approaches, and begins to sing along to the track, staring directly at her.

Rihanna then pushes him down on to his back before showing off some impressive acrobatic skills as she straddles him.

As the platform rotates so the audience can get a good view of her grinding him, they woop with delight.

Rihanna, as usual showing no inhibitions, at one point takes the fan's hand and holds it against her chest.

Grabbed: Rihanna's dancers lead GJ Kooijman to a raised platform on stage

The chosen one: Rihanna give the fan a sultry stare

You da one: Rihanna gives her fan a sultry stare as she edges towards him

Clambering: Rihanna pushes the man down and then gets on top of him

Acrobatic: Rihanna flashes the audience plenty of thigh as she mounts the male fan

Enjoy the view: The fan stares at Rihanna who grinds his crotch vigorously

She leans over him, brushing her skin against his as the platform begins to sink in to the stage, taking her and the fan out of view.

The man in the video, GJ Kooijman tweeted his confusion as to why the video has only just come to light.

'Seriously, how is my lapdance from @rihanna going viral 18 months later? It's 2 albums and a tour later, ffs,' said the Dutchman, who vied for the title of Mr Gay Netherlands in 2010.

Watch: Rihanna performs a lap dance on a fan at her Dutch concert

Back in Holland: Rihanna performs in Antwerp as part of her Diamonds tour

On stage: Rihanna is back in Holland and rocking a whole new look

On stage: Rihanna is back on tour and rocking a whole new look

Rihanna performed in Belgium this week as part of her Diamonds World Tour, but there was no lapdancing this time.

She took to the stage wearing a brightly coloured leather two piece, which was a futuristic twist on the sport luxe trend.

But off stage she was dressed far more plainly in a pair of tiny shorts and a black hoody.

She tried to go incognito as she walked through Paris on Friday afternoon, hiding her wavy tresses beneath a grey beanie and wearing a pair of sunglasses.