Dru Hill is one of the most influential R&B groups of all time, and the guys finally ended their six-year hiatus with a performance at the 2016 Soul Train Awards. Sisqo, Nokio, Jazz and new member Tao reunited on stage for a nostalgic medley of their classic lovelorn hits.

They kicked off the night with their 1996 debut "Tell Me," which featured the jumping-bean dance moves we mimicked as kids, before heading into "In My Bed" and every '90s girl's dedication to their high school crush, "Beauty." Dru Hill wrapped up the performance with Sisqo's energetic rendition of his signature 2000 "Thong Song" smash.

To thank their fans for their decades-long support, Dru Hill released the new song "Change," their first single since 2010's InDRUpendence Day album. "It was done in the aftermath of the unrest in Baltimore over the death of Freddie Gray and police brutality. We hope you enjoy it," the description reads.

Along with Dru Hill, Anderson .Paak took the stage with BJ the Chicago Kid for "Waters," D.R.A.M. performed his "WiFi" collaboration with Erykah Badu (who was also the show's host) and Ro James sang "Already Know That" and "Permission." The trip down R&B memory lane continued with Brandy's incredible medley, Carl Thomas' crooning performance and king of new jack swing Teddy Riley showing just why he earned the Legend Award of the night.

Beyoncé snagged the most awards, taking home four trophies including Album of the Year for Lemonade and Song of the Year for "Formation."