Queenie's Corner: Father-Daughter Dance...

Jon Bon Jovi Dances with Daughter

Stephanie During Performance

of Song He Wrote for Her

Jon Bon Jovi‘s daughter Stephanie Rose Bongiovi was around 7 years old when she first joined her dad on stage to dance along with him for a performance of the track he wrote for her, “I’ve Got the Girl.”

Since then, Bon Jovi has often backed up performances of the tune with home video of their frontman’s little girl — giving fans a peek into their loving relationship.

But on Saturday, the rocker surprised the audience at Bon Jovi’s Las Vegas show with an appearance by a now 23-year-old Stephanie — who joined her dad on stage for another dance, 16 years later.

“Everybody’s got a little girl in their life,” Bon Jovi, 54, said halfway through the song. “Their daughter, their girlfriend, their wife, their mamma — it all goes by so fast. And they start out as little bitty babies and their future’s looking bright. And I wrote this song for that little baby, who’s now not such a little baby anymore.” He then invited Stephanie out, to the cheers and awws of the audience.

The two danced together throughout the remainder of the song, with Bon Jovi occasionally stopping to strum the guitar.

“The truth is someday / Somebody is gonna take her (you see) / But the queen of hearts will always be / A five-year-old princess to me,” he sang in the song.

At the end of the set, they signaled the end of the song together with a jump before he embraced his daughter — giving her kiss after kiss on both cheeks.

“They’re a very close-knit family,” a source told PEOPLE of their bond. “It’s beautiful to see how much they enjoy being together.”