R. Kelly’s ending 2013 on a high note from a feature on Lady Gaga’s “Do What U Want,” which he recently performed with her on SNL, to announcing new chapters of his epic Trapped in the Closet mini-series. And tomorrow, he releases his twelfth solo album Black Panties. To promote the new album, last night the R&B icon stopped by Jimmy Kimmel Live to perform a sultry medley of songs off the album, including “Genius,” “My Story,” and “You Deserve Better.” Mid-way through, 2 Chainz also joins R. Kelly on stage to spit his “My Story” verses. Living up to his theatrical reputation as a performer, R. Kelly began the medley by reenacting his Black Panties cover art, sitting on a chair center stage with a young woman wrapped around his body as he “plays” her with a violin bow—something only R. Kelly can pull off. Watch the performance above.