Singer Adam Lambert, who gained fame when he appeared on "American Idol," will join the classic rock band, Queen, in a North American tour this summer, Lambert and original band members Brian May and Roger Taylor announced today in an appearance on "Good Morning America."

"Queen is one of the quintessential rock bands of all time…they've influenced bands for years to come," Lambert said today in a live appearance on "GMA," adding that it's a dream come true "to be able to bring these songs to life on stage" with "rock royalty members."

The legendary British band has performed with Lambert on a number of occasions in recent years, both in the U.S. and overseas, but the band has never actually toured with the former "American Idol" finalist in North America.

Queen first teamed up with Lambert in 2009 to perform the band's rock anthem "We Are the Champions" on "Idol's" season's eight finale. Kris Allen won that season, and Lambert was the runner-up.

Lambert and Queen teamed up again in 2011 at the MTV European Music Awards in Belfast, and in the summer of 2012 they performed across Europe, as well as in Russia, Ukraine and Poland. They also had three sold-out shows at London's Hammersmith Apollo.

Since Lambert's appearance on "Idol," he has released two albums and toured the world.

His debut album, "For Your Entertainment," earned him a Grammy Award nomination for best male pop vocal performance, and his second, "Trespassing," debuted at the top of the Billboard chart.

The upcoming 19-date North American tour will feature original Queen band members Brian May and Roger Taylor, and kicks off June 19 at the United Center in Chicago. The tour will take May, Taylor and Lambert to cities including New York, Los Angeles, Dallas, Vancouver, Montreal and Las Vegas.

The tour will wrap July 20 in Washington, D.C., at the Merriweather Post Pavilion.

"Come see us, it's going to be amazing," Lambert said on "GMA." An "Amazing summer tour."

Queen's frontman, the iconic Freddie Mercury, died in 1991 of complications from to AIDS. The band's bassist, John Deacon - who wrote a number of the band's many hit songs, including "I Want to Break Free" and the worldwide chart-topper, "Another One Bites the Dust" - has retired from music.

The tour is presented by Live Nation. Tickets will be on sale beginning Friday, March 14 through the Live Nation mobile app and at Livenation.com.