The longtime pals will be performing an intimate show in Los Angeles later this month

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Demi Lovato and Joe Jonas are proof that exes can be friends.

The duo are teaming up to perform a private concert in Los Angeles on Sept. 22 for Marriott Reward Members, PEOPLE confirms.

Earlier this summer, the singers surprised their fans with a throwback performance of their Camp Rock duet “Gotta Find You” at her Washington D.C. concert with Jonas’ brother Nick.

“Surprising Demi with Gotta Find You was something I will never forget! Thanks for having me guys! Amazing show you two put on. Proud to have such talented wonderful people in my life,” he captioned a photo of him and Lovato embracing onstage.

Jonas, 26, and Lovato, 24, first met on the set of their hit Disney movie in 2007 and went public with their relationship three years later. Though they called it quits just two months later, they’ve maintained their friendship over the years.

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The “Body Say” singer even joked about their past relationship while going undercover as a Lyft driver in Denver, Colorado this summer.

“I actually really want to be a singer someday,” she told one unsuspecting passenger. “Like, I’ve actually been traveling the country with my ex-boyfriend’s brother because he sings, too,” she said. “And so we really want to kind of get our names out there at open mic nights and, like, whatever we can do.”