A few years ago, Janelle Monáe teamed with the Roots to cover Jimi Hendrix on Jimmy Fallon’s Late Night show. Monáe and the Roots have a real chemistry, and she’s always such a great live show, so it was cool to see her back with the Roots on last night’s Tonight Show. And she gave a hell of a fun performance last night. Together with her protege Jidenna, the man behind the really great single “Classic Man,” Monáe sang her new single “Yoga.” She had a full set of backup dancers and a crown on her head, and she brought a real joy and sense of flair to the stage. Jidenna got a great dramatic entrance, too. Watch the performance below.

“Yoga” is out on iTunes right now, and Monáe is getting ready to release her Wondaland Arts Society compilation Eephus.