Janet Jackson performed a tribute to her brother Michael at the 26th annual MTV Music Video Awards, live from Radio City Music Hall in New York City on Sunday. A montage of the star’s songs and videos played, including “Thriller,” “Bad,” “Smooth Criminal” and finally, “Scream,” the duet that won Michael and Janet a VMA in 1995.

Michael’s friend Madonna took the stage to open the ceremony, telling the crowd that the late pop star had been a “King” – but also human.

“He was so unique, so original, so rare,” the Pop Queen said. “He was a king – but he was also a human being. We are all human beings and sometimes, we have to lose things before we appreciate them.”