Billy Joel performed one Aretha Franklin's most famous songs, "Respect," as a tribute during his concert at New York's Madison Square Garden last night.

And in keeping with his tradition of welcoming guests to the stage, Bryan Adams sat in for the encore.

Video of "Respect" hasn't surfaced, but Digital Journal noted that Joel turned the lead vocal chores over to his longtime percussionist and background singer for the song. He introduced the classic by calling Franklin "one of the greatest singers of all time."

"Respect" was written and recorded by Otis Redding in 1965 and covered by Franklin two years later, kicking off her first album with Atlantic Records, I Never Loved a Man the Way I Love You. It became her first No. 1 hit.

You can watch Joel and Adams sing "Summer of '69" and "You May Be Right," which closed out the show, below. As usual, Joel added a bit of Led Zeppelin's "Rock and Roll" to the latter song. At recent shows, Joel has been joined by Joe Elliott of Def Leppard and Bruce Springsteen.

According to TMZ, a public memorial for Franklin -- who died on Aug. 16 at the age of 76 after a long bout with pancreatic cancer -- will take place on Aug. 30 at the Chene Park Amphitheatre in Detroit. Among the artists paying tribute to her will be the Four Tops, Gladys Knight, Johnny Gill and Ronald Isley.

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