She gave a rousing performance of “Tightrope” that saw her shuffle around, whip off her jacket and then finally don a robe, James Brown-style. Letterman even coaxed Diddy to come on stage.

Mary J. Blige performed an exclusive concert from the Ed Sullivan Theater in NY after her interview on the Letterman show. Watch the full show below.

Mary J. Blige gives David Letterman a little 90s R&B history lesson and plugs her webcast concert.