Rihanna Kicks Off LOUD Tour With Prince Cover, Lap Dance

Rihanna throws a rocker-growl to the audience on on NBC's "Today" in Rockefeller Plaza on May 27, 2011 in New York.

Rihanna kicked off her LOUD tour in Baltimore on Saturday (June 4) with neon platforms, lap dances and a Prince cover amidst a sold-out crowd at the 1st Mariner Arena. Watch below, as an androgynous Rihanna sings Prince's "Darling Nikki" and provocatively swings a cane at her dominatrix dancers.

The concert opened with Billboard Hot 100 hits "Only Girl (In The World)," "Disturbia" and "Shut Up and Drive" and closed with "Umbrella." Rihanna kept in the Prince theme with a cover of Sheila E's "Glamorous Life."

Despite rumors that Rihanna would be canceling tour dates, the LOUD tour will continue throughout North America this summer with supporting performances by Cee Lo Green, B.o.B and J. Cole. With 24 songs and a half dozen wardrobe changes, Rihanna opened the tour with a bang.

And for a look at the lap dance we mentioned above, watch below, as Ri-Ri treats a female fan to some action.