MagAO is the newly-commissioned adaptive optics (AO) instrument on the Magellan Clay telescope at Las Companas Observatory, Chile. MagAO has two co-mounted science cameras: VisAO for visible-light direct and spectral-differential imaging; and Clio for near to thermal IR direct imaging, non-redundant-mask interference, and prism spectroscopy. We demonstrate MagAO's simultaneous visible and infrared AO performance via direct images of exoplanet Beta Pictoris b. The planet was detected in 5 passbands from 0.9-5μm. Here we show the infrared images; the visible observations are presented in Males et al. 2013. MagAO is the first AO system to offer good performance with extensive coverage across the O/IR spectrum and thus offers an unprecedented opportunity to study the spectral energy distributions of directly-imaged extrasolar planetary atmospheres.