The album concludes a story told through both 'Certified Lover Boy' and 'Honestly, Nevermind.'
The group accepted their Legend Award and tore down the house with a medley of hits.
The 36-year-old last performed at the 2019 show.
J. Valentine joined the R&B legend onstage.
The R&B songstress celebrated the 30th anniversary of her debut album 'Precious.'
Coco blew away the audience with her sultry single "ICU" as Q impressed the crowd with "Today."
Past honorees include Jill Scott, Brandy, and SWV.