Whitney Houston -- ROCKIN' OUT to Madonna's Halftime Show [Video]

Just five days before her death, Whitney Houston was GETTIN' DOWN to Madonna's Super Bowl halftime show ... singing and dancing to the music like her old self ... and TMZ has the footage.

It all went down Feb. 5 at a bar inside the Regent Beverly Wilshire hotel ... where Whitney watched the entire game with close family and friends. For the record, we're told she didn't have one drink.

But she did let loose ... because when Madge busted out Vogue ... a super-excited Whitney sang along and even busted out some of the trademark Vogue dance moves.

Sources close to the actress tell us ... Whitney RAVED about the performance and then reminisced about the days when she would battle Madonna on the music charts.