The rally in Traverse City was scheduled to begin at 7:30 p.m.
But around an hour after the scheduled start time, Trump addressed the onlookers from a huge screen, speaking from a plane as he made his way from Austin.
"We're stepping on the gas," he said.
A Trump campaign spokesperson, Steven Cheung, wrote on X that the former president had just finished up recording a three-hour episode of Rogan's show.
"We're coming now, Michigan!" he said.
EPIC: President Trump just wrapped a 3 HOUR episode of the Joe Rogan Podcast!We’re coming now, Michigan! pic.twitter.com/qmJrgJKCFy
"We got so tied up, but I figured you wouldn't mind too much because we're trying to win," he said.
"I got interviewed by actually a great guy. I didn't know him too well, but I got to know him because it was the longest interview I've ever done in my life. Joe Rogan, a good guy," he continued, adding that he told his team he was set on pressing ahead with the event in Michigan.
Harris is set to be joined by Michelle Obama at a campaign rally in Michigan on Saturday, while Trump will host another rally in Michigan before heading on to Pennsylvania.