R. Kelly Performs Tribute to Nelson Mandela on 'Arsenio'

Just hours after Nelson Mandela’s passing, R. Kelly paid homage to the late civil rights icon during his appearance on “Arsenio.” The R&B legend performed “Solider’s Heart,” a piano ballad which he wrote and performed for the South African leader in his living room in 2010.

“I’m just blessed to know that I walked in his presence,” said Kellz. “He was a spirit walking and being around him inspired me to even go further in my life, in my walk, and my career. He’s just an incredible power.”

In addition to his tribute, he reenacted a press conference while performing his Black Panties cut “Shut Up” and closed out the show with a stirring rendition of “When A Woman Loves.”

During the interview, he shared his preference for panties or thongs (“If you wear thongs, you might as well have your ass just out”), broke down his lyrics about Oreos and black holes, and revealed which artists he’s listening to.

Plus, he improvised by serenading two ladies using the words Frosted Flakes, relish, and ketchup.

Watch the R&B genius at work.