Britney, Madonna and Christina Aguilera perform at the MTV VMAs in 2003. Photo / Getty Images
Rudolph revealed the Girl Gone Wild singer - who is notorious for being a perfectionist with her performances and concert tours - was insistent they get everything just right before the cameras rolled.
"Madonna had been very, very, very rigid about the rehearsals. She was telling Britney and I every day, 'Be here tomorrow at 10 o'clock,'" he told the music publication.
"She would never address me by name; she would just say, 'You make sure Britney's here tomorrow at 10 o'clock.'"
On August 28, 2003, the pop stars took to the stage at New York's Radio City Music Hall to open the award show when "that kiss happened and the world exploded."
Watch: Britney Spears' manager Larry Rudolph on the infamous Madonna VMAs kiss
Afterwards, the busy music manager - who also handles Miley Cyrus - said Madonna had no problem expressing satisfaction that her long hours practicing paid off.
The Material Girl "wrapped her arms around my waist and gave me a big kiss on the lips," he recollected. "And she said, 'You see Larry, it was all worth it.'"
And 11 years later, the sapphic moment has gone on to be one of the most memorable in the history of the MTV Video Music Awards.
After their public make out session, Britney and Madonna went on to collaborate on the hit single Me Against The Music.
- Daily Mail