Erykah Badu was honored at BET's 2018 Soul Train Awards Sunday night.

Tisha Campbell-Martin and Tichina Arnold hosted the ceremony, while SZA presented Badu with the Legend Award.

The neo-soul icon went on to thank her mother, who was in the audience. She also remembered late jazz trumpeter Roy Hargrove, and gave her words to Diddy and his family as they mourn the loss of Kim Porter.

Questlove, Andre 3000, Solange, Dave Chappelle, Ari Lennox, JacqueesJon B and more paid homage to Badu, speaking on her legacy and influence in a video montage.

READ: Listen to Erykah Badu Debut New Music While Honoring Jazz Great Roy Hargrove

Badu also performed her 1997 song, "Tyrone."

Watch clips of her acceptance speech and montage video above.