Janet Jackson performs at Hard Rock Live at Seminole Hard Rock Hotel & Casino Hollywood on April 14, 2023 in Hollywood, Florida. (Photo by Kevin Mazur/Getty Images for Janet Jackson)

Janet Jackson kicked off her highly anticipated Together Again tour over the weekend, and she made her return to the stage one to remember with a mix of custom designer looks and ones with nostalgic references.

The music legend and style icon performed a 40-song setlist of her biggest hits after almost four years since her last tour. She styled her hair in a slicked-back high ponytail and sartorially paid homage to some of her classics through her looks. Jackson wore a black ultra-cropped Rhythm Nation T-shirt, in tribute to the track on her fourth studio album, Janet Jackson’s Rhythm Nation 1814. The star teamed her statement piece with high-waisted dark wash baggy denim jeans, a black belt with a silver buckle and a black bodysuit underneath.

Janet Jackson performs at Hard Rock Live at Seminole Hard Rock Hotel & Casino Hollywood on April 14, 2023 in Hollywood, Florida. (Photo by Kevin Mazur/Getty Images for Janet Jackson)

For her more theatrical costumes, Jackson wore custom looks from Italian fashion house Valentino. Creative director Pierpaolo Piccioli designed ensembles specifically for both Jackson and her dancers. One included a regal Valentino hooded cloak in a vibrant shade of wisteria purple with bronze sequin detailing on the inside, styled by Laurel Thomson.

The five-time Grammy winner then switched into a head-to-toe bronze sequin long-sleeve bodysuit with strong padded shoulders and a mock neckline, also from Valentino. In keeping with the notes of bright purple, her dancers wore bold purple get-ups, and Jackson complimented them with a matching bow tied around her waist. The “I Get Lonely” singer paired her catsuit with matching sparkling gold Christian Louboutin knee-high boots.

Janet Jackson performs at Hard Rock Live at Seminole Hard Rock Hotel & Casino Hollywood on April 14, 2023 in Hollywood, Florida. (Photo by Kevin Mazur/Getty Images for Janet Jackson)

Jackson continued to dance the night away in black tapered trousers and a shimmering black-and-white striped long-sleeve turtleneck sweater, while her dancers dressed as competitive fencers.

“We had so much fun last night… so good to see all of u!” Jackson wrote on Instagram.

Janet Jackson performs at Hard Rock Live at Seminole Hard Rock Hotel & Casino Hollywood on April 14, 2023 in Hollywood, Florida. (Photo by Kevin Mazur/Getty Images for Janet Jackson)

Next month, the superstar is auctioning off over 800 items from her personal treasure trove with Julien’s auction house and donating a portion of the proceeds to the child advocacy group, Compassion International. The assortment will include some of her most recognizable ensembles from fan-favorite music videos, custom stage costumes, bedazzled microphones and even her 2003 Aston Martin V12 Vanquish.

The auction will take place at the Hard Rock Café in New York and online at Julien’s Live beginning on May 21, according to the auction house.