If there was one thing that we were looking forward to at this year's BET Awards, it was the dance tribute for Janet Jackson. And although we did have to wait till the end of the show on Sunday night (June 28) to see it, the performance was well worth the wait.

Tinashe kicked it off by performing "Pleasure Principle." Sitting in a chair, the singer seemed to really channel her inner Ms. Jackson -- from her wardrobe, to every kick and twist. While there weren't any mirrors around like there were in the original video, her youthful energy brought us back to that time when we started dancing in our rooms to Janet's tunes.

Jason Derulo followed with "All for You," off her 2001 self-titled album. And even though he kept it strictly to the original moves, the "Talk Dirty" singer added his signature toe spin to give it some Derulo flair.

If there was someone who had to do the infamous "If" choreography, Ciara was clearly the perfect choice. Known for her own impeccable dance skills, she embodied Janet's Velvet Rope era with her big curly hair and shameless sass. But Ciara takes the performance to another level when she quickly changed for "Rhythm Nation," which was executed perfectly.

During the BET Awards pre-show, Ciara expressed how she felt about doing this performance.

"I'm so excited," Ciara said on the red carpet. "I couldn't sleep. I was waking up in my sleep doing the routine. All I have to say is it's a lot of dancing. I mean some of Janet's coolest dance moments are happening tonight, and I'm truly honored to be part of it. I really am."

To end the performance, Jason and Tinashe join Ciara in their black suits to dance it out and finish on a strong note.

The mood changed as dancers took their places onstage while Janet's new single, "No Sleeep", played. While some of us thought (or more like hoped) that Janet would surprise everyone with a performance, she casually walked out to accept her award.

"I love you, too," she started. "This [award] is so heavy."

And while Jimmy Jam, who introduced the segment with Terry Lewis, tried to help her out, she insisted on holding it then continued her acceptance speech for the ULTIMATE ICON: Music Dance Visual award.

"It's been a very long journey to this moment," she said. "My heart is so full. Thank you God for making everything, anything possible. I've always been grateful for everything you've given me."

She thanked her family by saying, "Your love is unbreakable."

After showing Jimmy and Terry some love, she went on to express her appreciation for the dance performance but then took things to a more serious note. "Twenty-five years ago we created 'Rhythm Nation' hoping the world would be a better place, she said, "but today there's even more to be done. And last but not least, my loving husband and to all the fans, I've missed you so much. And I love you so much. Thank you. Thank you, BET, thank you."

Now that Janet has finally made a major public appearance like this, her new album and upcoming tour seems to be closer to our reach. And we can't wait till it all comes out.

See Celebs on the 2015 BET Awards Red Carpet