After receiving the Lifetime Achievement Award at the BET Awards, Charlie Wilson turned back the clock and performed some of his greatest hits and collaborations onstage as the crowd partied with him.

Joined by Snoop Dogg, Justin Timberlake and Pharrell Williams, they performed songs such as Snoop's version of his hit 'Beautiful,' 'Signs,' his 1982 hit 'You Dropped a Bomb On Me,' and much more in the nearly 12-minute set.

The artists showed off some of their unique dance moves all while paying tribute to the legendary singer.

Watch Charlie Wilson's 2013 BET Performance