We can’t hate — Nelly’s performance Tuesday night at the BET Awards was among the best of show.

Nelly’s set, which came late in the evening, was a real highlight in a sometimes mundane and poorly hosted show (no thanks, DL Hughley). The ceremony also featured performances from Lil Wayne, Chris Brown, Keyshia Cole, T-Pain, Alicia Keys paying tribute to ’90s R&B girl groups, and an Al Green tribute with a out-of-hiding Maxwell.

The bare-chested Nelly started out his performance in an aisle in the audience, and rocked “Stepped on My J’s” featuring Ciara and Jermaine Dupri. Several dudes hooped it up in the background on an on-stage basketball court. Fergie then joined Nelly for “Party People.”

Nelly gave what might’ve been one of his most self-assured live performances ever.

Girlfriend Ashanti helped introduce Nelly.

Kanye West, Brown, and Keys were among the night’s winners.