D'Angelo made his highly-anticipated return to television Sunday night (July 1) at the 2012 BET Awards, where he received a warm welcome. The crooner, who made his first TV appearance in more than a decade, opened with a hit track from his heyday, "Untitled (How Does It Feel)."

With the spotlight focused on him, D'Angelo grabbed hold of the mic for the song and belted out notes with vigor. The singer wore a bandana tied around his short curly fro and donned a vest.

He then joined his band and hopped on his keyboard for his latest song, "Sugar Daddy." He made his way around the stage in good spirit, doing tricks with his mic stand, hopping, kicking and screaming out high notes. Big names in the audience including Beyonce, Kerry Washington and Common all clapped along as he performed.

The singer put on a grand show and kept the crowd surprised as he paused then start up his song again for a real live jam session.

Watch D'Angelo Perform "Untitled (How Does It Feel)" at BET Awards 2012

See Photos of Stars on the BET Awards 2012 Red Carpet