Four years ago, Jimmy Kimmel showed up in Pharrell’s video for the globe-conquering monster hit “Happy.” And maybe that’s why Pharrell’s reunited N.E.R.D. project chose Kimmel’s show for what was only their second live performance since 2011. Pharrell was a guest on Kimmel last night, where he talked about how he won’t play “Happy” for his kids and where Kimmel made fun of N.E.R.D.’s rider. And then N.E.R.D. performed, doing two tracks from their just-released new album No_One Ever Really Dies, the Rihanna collab “Lemon” and the Future collab “1000.” Rihanna and Future weren’t there, but N.E.R.D. found a cool way to perform the songs anyway, doing them in the middle of the crowd at Kimmel’s outdoor festival-stage set. They were surrounded by dancers, and Mette Towley, the striking dancer from their videos, made a big entrance. Check out the performances and the interview below.

No_One Ever Really Dies is out now on Columbia/i am OTHER.