RAtM set up shop in New York City at the World's Most Famous Arena for five shows from August 8 - 14.
Trujillo congratulated the band via Instagram on Saturday, posing for a photo with bassist Tim Commerford.
"Timmy C’ killed it last night! So nice to catch up w/ the mighty groove master, and his tribe," Trujillo wrote. "Madison Square Garden got a funkified Ass kickin’ (in the best way) Rage throwin down as they always do!"
Trujillo continued, recalling one of Rage Against the Machine's earliest tourl, which was in support of Trujillo's band at the time, Suicidal Tendencies.
"I was so proud of these dudes last night, they did [their] first ever tour opening for Suicidal just before the release of their first record in Europe, and here they are 30 years later selling out 5 shows at The Garden."
Rage opened for Suicidal Tendencies on that first tour. Then a year later, following the success of RAtM's debut album, the two bands went back out together, but with Rage as the headliner at Suicidal as main support.
Rage Against the Machine recently canceled its forthcoming European tour, due to frontman Zach de la Rocha's leg injury. De la Rocha got hurt early in the tour during the band's Chicago concert. He has performed subsequent dates seated on a road case.
In a statement, the band announced that de la Rocha was urged by his doctor not to travel to Europe or delay treatment any longer.
While the band has not clarified what exactly happened to the frontman, friends have suggested that de la Rocha is performing despite a torn ACL in his left leg, an injury that typically requires surgery to repair.