D’Angelo took to the stage for the first time in 12 years in the United States and chose the fields of Manchester, Tennessee to perform alongside Questlove to a throng of Bonnaroo Festival revelers in the early hours of Sunday morning. The R&B icon joined The Roots drummer, as well as James Poyser and a nine-piece band for over an hour playing cover tracks from legendary acts including the Jimi Hendrix classic "Have You Ever Been (to Electric Ladyland)," The Beatles’s “She Came in Through the Bathroom Window” and "What is and What Should Never Be" by Led Zeppelin. Listen in on the full audio stream from the show below to see how the Virginia singer’s return to live performances shaped up.