Last night, BET held its annual awards show, and the broadcast produced a whole lot in the way of highlights. Kendrick Lamar did “Bitch, Don’t Kill My Vibe” with Erykah Badu singing the chorus and making the recorded version of the song more or less irrelevant, and then returned later to help Miguel with his “How Many Drinks” remix. R. Kelly, dressed like a character from The Road Warrior, sang a massive career-spanning medley. A group of luminaries that included Justin Timberlake and Pharrell paid tribute to the R&B legend and former Gap Band frontman Charlie Wilson. 2 Chainz, A$AP Rocky, and Kendrick Lamar got together for “Fuckin’ Problems.” And Badu returned to the stage with Janelle Monáe for Monáe’s badass funk-strut new single “Q.U.E.E.N.” Watch all those performances below.