R. Kelly took over the 2013 BET Awards last night with one of the show's  most memorable performances.

It began with the 'Trapped In The Closet' cast getting into the audience to warm things up, and then R. Kelly himself took the stage to perform a smooth medley of his greatest hits. From 'Bump & Grind' to 'Ignition (Remix),' he had everybody swaying their bodies and grooving, including current superstars such as Nicki Minaj. Check out the performance below.