Bret Michaels Recalls Miley Cyrus Telling Him That a Poison Show Was Her First-Ever Concert (Exclusive)

Miley Cyrus is a certified Poison stan, according to Bret Michaels.

In an exclusive conversation with PEOPLE ahead of a new A&E Biography series that looks at the rock star's life and career, Michaels, 61, opens up about how Cyrus, 31, has been a longtime fan of himself and his band.

"Her first concert she ever went to was to see Poison in Nashville at the Starwood Amphitheatre," Michaels says. "That was her first introduction to Poison."

According to Michaels, Cyrus told him that the show was life-altering. "She said to me, 'It changed my life.' She goes, 'That's when I knew I wanted to mix my rock, my pop, my country,' and I said, 'I'm honored.' "

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Cyrus released a cover of Poison's "Every Rose Has Its Thorn" as part of her third studio album, Can't Be Tamed, in 2010.

"Bret and I had a great time in the studio together, just hanging out and making music," Cyrus said at the time, per MTV. "It was so surreal to have him sit down with his acoustic guitar and walk me through 'Every Rose.' "

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Looking back at the moment, Michaels tells PEOPLE, "Miley was incredible. We were in New York and we just started talking. She was recording, and she wanted to record the song."

"We went down and recorded 'Every Rose Has Its Thorn,' and while we were doing it, I was recording an album ... and I said, 'I've got a song [I want to record with you]' ... and she nailed it," he adds, referring to their collaboration "Nothing to Lose," which is featured on Michaels' Custom Built album.

Michaels credits Cyrus — who just won her first Grammy Award earlier this year — as an "incredible" singer.

"Her talent as an artist is unbelievable," the father of two, who is currently on his Parti-Gras 2.0 Tour, says.

"And, obviously, her dad and mom and their family are great and talented, too, you know what I mean?" Michaels adds, referring to Billy Ray Cyrus, Tish Cyrus and the rest of their brood, which includes Cyrus' sisters Brandi and Noah, plus brothers Trace, Christopher and Braison.

Biography: Bret Michaels premieres on A&E on June 16 at 9 p.m. EST. It will be available to stream the following day.