"They found an inoperable tumor on her brain, and her dying wish was to dance with Beyonce," Ivy McGregor of Philanthropy Program Partnerships explained.
With Beyonce arriving right by Taylon's seat, the pair sang Destiny's Child's "Survivor" together as well as "Love on Top."
Talk about a survivor!
"Here's a little girl literally fighting for her life," McGregor added. "'Tomorrow's not promised, next week's not promised, but right now I'm here,' and her thought that will forever stay with me is, 'Since I'm here, I might as well live.'"
Click "Launch Gallery" above to see more of Beyonce's candid photos, and check out the amazing video above to see Taylon's dream come true!