The music legend joined Jackie and Marlon Jackson, founding members of The Jacksons, during their show at the Heritage Live festival in Reading on Saturday, July 19.

When Janet Jackson received Billboard Music Awards ' highest honor onstage Sunday night, it marked the first time the singer had performed live on TV in nine years. Nine whole years.

Janet Jackson showed why she is one of the more under-appreciated legends of music as she put on an epic performance at Co-op Live.