07/02/2012 08:33 am ET

D'Angelo, BET Awards: Singer Makes First Televised Performance In 12 Years (VIDEO)

With more and more R&B artists moving away from the genre and into dance music (hi, Usher), D'Angelo's performance at Sunday's BET Awards -- his first televised gig in 12 years -- was a breath of fresh air.

Performing during a show which also saw Chris Brown, Nicki Minaj, Kanye West, Big Sean, Usher, 2 Chainz and Pusha-T take the stage, D'Angelo started off with a portion of his seminal hit "Untitled (How Does It Feel)" before launching into "Sugar Daddy," a song that was co-written by Q-Tip:

Though D'Angelo fought plenty of battles over the past 15 years (rehab, weight gain, being forgotten by the music industry, etc), it appears his comeback is a true return to form. He made his first big US debut at Bonnaroo, where he performed during Questlove's Superjam session. The R&B crooner had performed live in Europe earlier in 2012.

Peep his BET Awards performance above (spoiler alert: he kept his shirt on) and take a spin through photos of the night's best moments below.