VIDEO: Sneak Peek - Kylie Minogue Rocks Out to New Menken Tune on GALAVANT

Kylie Minogue joins the new season of ABC's GALAVANT as a medieval queen with a taste for shirtless men! In the sneak peek below, watch the pop singer perform "Off With His Shirt, an original tune composed by Alan Menken and Glenn Slater.

GALAVANT premieres SUNDAY, JANUARY 3 (8:00-9:00 p.m., ET) with two 30-minute episodes, back-to-back on the ABC Television Network.

The return of last season's breakout comedy extravaganza "Galavant" reunites screenwriter/executive producer Dan Fogelman ("Crazy, Stupid, Love," "Tangled," "Cars") with the award-winning musical team of composer Alan Menken("The Little Mermaid," "Aladdin," "Beauty and the Beast") and lyricist Glenn Slater ("The Little Mermaid," "Tangled"). Having discovered the dark side of Madalena, our dashing hero's adventures continue as he embarks on an unlikely bromance with King Richard and fights to rekindle the romance with his true love, Isabella. "Galavant" will premiere on SUNDAY, JANUARY 3 (8:00-9:00 p.m., ET) with two 30-minute episodes, back-to-back on the ABC Television Network. The ten episode series will run each Sunday night for five-consecutive weeks.

"Galavant" stars Joshua Sasse as Galavant, Timothy Omundson as King Richard, Vinnie Jones as Gareth, Mallory Jansen as Madalena, Karen David as Isabella and Luke Youngblood as Sid.

Executive producers are Dan Fogelman, Alan Menken, Glenn Slater, Chris Koch, Kat Likkel and John Hoberg. Abbey C Studios Ltd. produces "Galavant" for ABC Studios.

Video courtesy of ET