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There were tears, tributes, and plenty of thrills when the Soul Train Awards 2013 aired last night on BET and Centric. Hosted by Anthony Anderson, this year’s show paid homage to the soul soundtrack of the ’90s, with performances from today’s brightest stars and the legends before them.

Jennifer Hudson kicked off the two-and-a-half hour show at Las Vegas’ Orleans Arena with her new single “I Can’t Describe (The Way I Feel),” accompanied by Evelyn “Champagne” King, Chaka Khan, and T.I.

An emotional Tamar Braxton picked up two awards for Best R&B/Soul Female Artist and the Ashford and Simpson Songwriter’s Award and later performed a medley including “Love and War,” “The One,” and “All the Way Home.”

Best New Artist winner K. Michelle delivered a very special performance of “Can’t Raise a Man” and “V.S.O.P.,” while Wale teamed up with Mint Condition’s Stokley Williams for a mash-up of Marvin Gaye’s “Inner City Blues” and “LoveHate Thing.”

Lifetime Achievement Award recipient Keith Sweat brought down the house with a medley of his greatest hits including “Make It Last Forever,” for which he was joined by Faith Evans.

Dionne Warwick was honored with the Legend Award and received a star-studded salute from Ron Isley, Ruben Studdard, Chrisette Michelle, Gladys Knight, and “American Idol” winner Candice Glover.

Slick Rick, Warren G, Dougie E. Fresh, and Big Daddy Kane brought back memories with an old school hip-hop medley, while the “Blue-Eyed Soul” set starred Jon B., Bobby Caldwell, Dave Koz, and Vanilla Ice, who had the crowd in its feet with “Ice Ice Baby.”

Other big winners included Kendrick Lamar (Album of the Year), Janelle Monáe (Video of the Year for “Q.U.E.E.N.”), Robin Thicke (Song of the Year for “Blurred Lines”), and Ashanti (Best Independent R&B/Soul Performance for “Never Should Have”).

Watch highlights from the show below.

Jennifer Hudson, Chaka Khan, and Evelyn “Champagne” King Perform “I Can’t Describe,” “I’m in Love,” and “Do What You Feel”

Wale and Stokley Williams Perform “LoveHate Thing” and “Inner City Blues”

K. Michelle Performs “Can’t Raise a Man” and “V.S.O.P.”

Tamar Braxton Accepts Best Female R&B/Soul Artist

Tamar Braxton Performs “Love and War,” “The One,” and “All the Way Home”

Warren G Performs “Regulate”

Doug E. Fresh, Slick Rick, and Big Daddy Kane Perform Medley

Keith Sweat Performs Medley + “Make It Last Forever” with Faith Evans

Ron Isley, Gladys Knight, Chrisette Michele, Eddie Levert, Eric Benét, Ruben Studdard, and Candice Glover Pay Tribute to Dionne Warwick

Jon B., Bobby Caldwell, and Dave Koz Perform “They Don’t Know” and “What You Won’t Do”

Vanilla Ice Performs “Ice Ice Baby”