Janet Jackson reunites with former backup dancer Jenna Dewan Tatum at Hollywood concert, rocks skintight style

Jenna Dewan Tatum returned to the Rhythm Nation over the weekend!

On Sunday night, the 36-year-old star joined Janet Jackson onstage at the Hollywood Bowl in Los Angeles, California, along with several other of the 51-year-old singer's former backup dancers. 

Jackson went on to thank the performers who had joined her in past tours, and needless to say, Jenna was thrilled.

WATCH: Janet Jackson Breaks Down While Singing 'What About' in Concert

"Generations of Janet kids brought together! ♥️," the World of Dance host captioned a photo on Instagram of herself with the other former backup dancers. "Dancing for her was always way more than a job, it was being part of a legacy. I have been pinching myself all day being in a room years later dancing with these legends. Excited to share soon."

Jenna's husband, Channing Tatum, was in the audience to witness his wife's return to the stage with Jackson. An eyewitness tells ET that the 37-year-old actor watched the show with pal Wilmer Valderrama and several other guys, who were all in box seats.

Other celebrities at the concert included Jennifer Hudson, Christina Aguilera, Magic Johnson and Craig Robinson. "I am getting my best life! I came to see @JanetJackson in a very Janet type of way! Call me Ms. Hudson, if you nasty!" Hudson captioned a set of selfies from the show. "Thank u @JanetJackson for doing this!!!! Timeless!! I'm trying to get my Janet on ... lol"

PHOTOS: Janet Jackson Shows Off Her Weight Loss, Rocks Out at First Post-Baby Show

Jackson's 87-year-old mother, Katherine Jackson, was also in attendance, and, according to one concertgoer, sat in front of the soundboard in a box seat. She was seen leaving at around 9:40 p.m. in a wheelchair.

In addition to bringing out her former backup dancers to the stage, the music legend also excited fans by doing a five-song encore, an eyewitness tells ET. 

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Janet Jackson out and about
LOS ANGELES, CA - OCTOBER 08: Recording Artist Janet Jackson attends her State Of The World Tour after party at Lure Nightclub on October 8, 2017 in Los Angeles, California. (Photo by Paul Archuleta/FilmMagic)
LOS ANGELES, CA - OCTOBER 08: Recording Artist Janet Jackson attends her State Of The World Tour after party at Lure Nightclub on October 8, 2017 in Los Angeles, California. (Photo by Paul Archuleta/FilmMagic)
LOS ANGELES, CALIFORNIA - OCTOBER 08: (EXCLUSIVE COVERAGE) Singer-songwriter Janet Jackson attends her Janet Jackson's State Of The World Tour After Party at Lure on October 8, 2017 in Los Angeles, California. (Photo by Greg Doherty/Getty Images)
DUBAI, UNITED ARAB EMIRATES - MARCH 26: Janet Jackson performs after the Dubai World Cup at the Meydan Racecourse on March 26, 2016 in Dubai, United Arab Emirates. (Photo by Francois Nel/Getty Images)
US singer Janet Jackson performs during the Dubai World Cup horse racing event on March 26, 2016 at the Meydan racecourse in the United Arab Emirate of Dubai. Janet Jackson returned to the stage after a four-month hiatus for mysterious health reasons, bringing her energetic dance show to Dubai. / AFP / KARIM SAHIB (Photo credit should read KARIM SAHIB/AFP/Getty Images)
US singer Janet Jackson (R) and husband Wissam Al Mana attend Hermes 2016 Spring/Summer ready-to-wear collection fashion show, on October 5, 2015 in Paris. AFP PHOTO / MIGUEL MEDINA (Photo credit should read MIGUEL MEDINA/AFP/Getty Images)
MIAMI, FL - SEPTEMBER 20: Janet Jackson performs on stage during her 'Unbreakable' World Tour concert at AmericanAirlines Arena on September 20, 2015 in Miami, Florida. (Photo by Alexander Tamargo/Getty Images)
LOS ANGELES, CA - JUNE 28: Janet Jackson speaks onstage during the 2015 BET Awards held at Microsoft Theater on June 28, 2015 in Los Angeles, California. (Photo by Michael Tran/FilmMagic)
LOS ANGELES, CA - JUNE 17: Janet Jackson is seen arriving at LAX on June 17, 2015 in Los Angeles, California. (Photo by HEV/BuzzFoto via Getty Images)
JANET JACKSON amfARs 20th Cinema Against AIDS Gala 66th Cannes Film Festival Antibes, France May 23, 2013 ??Kurt Krieger (Photo by Kurt Krieger/Corbis via Getty Images)
CAP D'ANTIBES, FRANCE - MAY 23: (EXCLUSIVE COVERAGE. HIGHER RATES APPLY) Singer Janet Jackson attends amfAR's 20th Annual Cinema Against AIDS during The 66th Annual Cannes Film Festival at Hotel du Cap-Eden-Roc on May 23, 2013 in Cap d'Antibes, France. (Photo by Dave M. Benett/amfAR13/Getty Images for amfAR)
MILAN, ITALY - FEBRUARY 25: Janet Jackson attends the Giorgio Armani fashion show as part of Milan Fashion Week Womenswear Fall/Winter 2013/14 on February 25, 2014 in Milan, Italy. (Photo by Vittorio Zunino Celotto/Getty Images)
MILAN, ITALY - FEBRUARY 25: Wissam al Mana and Janet Jackson attend the Giorgio Armani fashion show during Milan Fashion Week Womenswear Fall/Winter 2013/14 on February 25, 2013 in Milan, Italy. (Photo by Vittorio Zunino Celotto/Getty Images)
MILAN, ITALY - FEBRUARY 23: Giuseppe Zanotti and Janet Jackson attend the Giuseppe Zanotti Design Presentation during Milan Fashion Week Womenswear Fall/Winter 2013/14 on February 23, 2013 in Milan, Italy. (Photo by Vincenzo Lombardo/Getty Images for Giuseppe Zanotti Design)
MILAN, ITALY - FEBRUARY 23: Wissam al Mana and Janet Jackson attend the Roberto Cavalli fashion show as part of Milan Fashion Week Womenswear Fall/Winter 2013/14 on February 23, 2013 in Milan, Italy. (Photo by Jacopo Raule/Getty Images)
MILAN, ITALY - FEBRUARY 21: Janet Jackson and Wissam al Mana attend the Sergio Rossi presentation cocktail during Milan Fashion Week Womenswear Fall/Winter 2013/14 on February 21, 2013 in Milan, Italy. (Photo by Vincenzo Lombardo/Getty Images for Sergio Rossi)
NEW YORK, NY - FEBRUARY 06: Janet Jackson (L) and Maria Davis speak onstage at the amfAR New York Gala to kick off Fall 2013 Fashion Week at Cipriani Wall Street on February 6, 2013 in New York City. (Photo by Stephen Lovekin/Getty Images for Mercedes-Benz Fashion Week)
LOS ANGELES, CA - SEPTEMBER 08: Janet Jackson attends the Dylan's Candy Bar Los Angeles Opening at Original Farmers Market on September 8, 2012 in Los Angeles, California. (Photo by John Sciulli/WireImage)
MOSCOW, RUSSIA - OCTOBER 25: Wissam Al Mana and Janet Jackson attend Kira Plastinina's fashion show on October 25, 2012 in Moscow, Russia. (Photo by Gennadi Avramenko/Epsilon/Getty Images)
LOS ANGELES, CA - SEPTEMBER 08: CEO/Founder Dylan Lauren and Janet Jackson attend the Dylan's Candy Bar Los Angeles Opening at Original Farmers Market on September 8, 2012 in Los Angeles, California. (Photo by John Sciulli/WireImage)
ANTIBES - MAY 24: Janet Jackson attends the 2012 amfAR's Cinema Against AIDS Gala during the 65th Annual Cannes Film Festival at Hotel Du Cap on May 24, 2012 in Antibes, France. (Photo by Anthony Harvey/Getty Images)
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Jackson -- who just gave birth to a son in January -- also posed ahead of the concert in a stunning all-black ensemble that showed off her fit physique. 

 

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