The Haitian-Puerto Rican crooner recounted his 25 year career throughout an emotional 10 minutes.
The two-time Soul Train Award winner was backed by a live band and joined by Lennox for the performance of her 'Still Over It' standout.
Find out why she considers this award a full circle moment.
The annual ceremony brought sweet soul to New York City's Apollo Theater on the music-dance program's 50th anniversary.
"I need to see where all the people who know if it had not been for the Lord...I need five of y'all to stand on your feet," requested the veteran gospel singer.
Here's how Tone Stith, Musiq Soulchild, Jac Ross, Elle Varner, and Koryn Hawthorne freestyled over the classic instrumental.
He joined his dancers for some sexy choreography, ending his performance nearly shirtless and on his knees.
Anderson .Paak and Bruno Mars gave viewers a blast from the past to start the show.
"Keep your eyes on me" sang the 30-year-old on the upbeat song and it is a command she made easy for the live audience and viewers watching at home.