The r&b icon returns to Tiny Desk with the assistance of a disciple.

Ten years after making his Tiny Desk Concert debut, Raphael Saadiq is back behind Bob Boilen's expanded place of "work."

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This time around, Saadiq was joined by disciple, Lucky Daye, performing a lush and soulful career-spanning set in front of a live audience at NPR HQ. For his part, Daye was a worthy aid in the wings, filling in for D'Angelo on the duo's 2002 collaboration "Be Here" and taking center stage to perform selections from his own (4x) Grammy-nominated debut album, Painted, with Saadiq and Co. as backing. The set closes with Daye slipping off stage and Saadiq's ensemble running through the Instant Vintage anthem, "Still Ray."

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Watch Lucky Daye assist Raphael Saadiq with a career-and-generation-spanning Tiny Desk Concert performance below.