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Paul McCartney sings the Beatles' hits in Carpool Karaoke

Drive My Car! The famous singer and songwriter joins James Corden on a ride through memory (and Penny) lane.

Paul McCartney joins James Corden on very memorable episode of Carpool Karaoke.

Video screenshot by Bonnie Burton/CNET

Singer and songwriter Paul McCartney joined James Corden on a memorable car ride exploring the city of McCartney's youth, Liverpool, in a special episode of Carpool Karaoke. The series is a regular feature on The Late Late Show with James Corden on CBS. (Disclosure: CBS is CNET's parent company.)

In the 23-minute video posted on Thursday, McCartney sings some of his most famous Beatles songs, like Penny Lane, Drive My Car, Let It Be and Blackbird.

On his tour of Liverpool, McCartney points out the church where he was a choir boy, adds his autograph to the Penny Lane street sign, and visits his childhood home -- a place particularly special as it's where he wrote music with fellow Beatle John Lennon. 

Shocking the homeowner with an impromptu visit, McCartney shows Corden around the house. As McCartney walks around his old home, he tells the story of how his dad thought the song She Loves You should have a chorus of yes, yes, yes instead of the famous yeah, yeah, yeah. 

He also tells how his mom came to him in a dream after she died to say that things would be all right, and that's how the song Let It Be came about. 

The video shows Corden trying his best to master Beatles fashion by wearing the Sgt. Pepper uniforms and a wig of the Beatles' signature mop top hairdo.  

Eventually, the pair ends up at a pub to give the locals "the surprise of their life," Corden says. McCartney sings A Hard Day's Night, Love Me Do, Back in the USSR and Hey, Jude to a shocked crowd.

"Quite possibly the best #CarpoolKaraoke we've done so far," Corden tweeted Thursday. "I hope you like it. I'll never ever forget it. Take a breath and jump in."