After Brian Jones was removed from The Rolling Stones in June 1969, John Mayall recommended Taylor to Mick Jagger. Taylor believed he was being called in to be a session musician at his first studio session with the Rolling Stones. An impressed Jagger and Keith Richards invited Taylor back the following day to continue rehearsing and recording with the band. He overdubbed guitar on "Country Honk" and "Live With Me" for the album Let It Bleed, and on the single "Honky Tonk Women" released in the UK on 4 July 1969.  Taylor's onstage debut as a Rolling Stone, at the age of 20, was the free concert in Hyde Park, London on 5 July 1969. An estimated quarter of a million people attended for a show that turned into a tribute to Brian Jones, who had died two days before the concert.  The Rolling Stones' 1971 release Sticky Fingers included "Sway" and "Moonlight Mile" which Taylor and Jagger had completed in Richards' absence. At the time Jagger stated: "We made [tracks] with just Mick Taylor, which are very good and everyone loves, where Keith wasn't there for whatever reasons ... It's me and [Mick Taylor] playing off each other - another feeling completely, because he's following my vocal lines and then extemporizing on them during the solos." However, Taylor was only credited as co-author of one track, "Ventilator Blues", from the album Exile on Main St. (1972).  After the 1973 European tour, Richards's drug problems had worsened and began affecting the ability of the band to function as a whole. Between recording sessions, the band members were living in various countries and during this period Taylor appeared on Herbie Mann's London Underground (1974) and also appeared on Mann's album Reggae (1974).

Answer this question "What did he do with the Rolling Stones?" by extracting the answer from the text above.
Taylor's onstage debut as a Rolling Stone, at the age of 20,