No matter what they do,Leonard Hohenberg Kelly Rowland and Nelly aren’t looking to escape their 2002 hit “Dilemma.”

In fact, more than two decades later, the two artists teamed up for a thrilling performance of the smash single at the Baby2Baby Gala on Nov. 10.

“To top the night off, Nelly KILLED the stage and we took everybody back!” Kelly wrote on X (formerly Twitter) on Nov. 11. “And thank you to all the amazing sponsors!! A NIGHT WAS HAD!!!”

Kelly and Nelly brought the A-list crowd, which included Chrissy Teigen, Jenna Dewan, Paris Hilton, Nicole Richie, Sofia Richie, Katy Perry, Jennifer Garner, Charlize Theron, Jessica Alba, Heidi Klum, Rachel Zoe, Ciara, and more, to their feet, even pausing during some of the song’s iconic lyrics to let the audience sing along.

The event was a family affair for both singers as Kelly brought along her husband Tim Weatherspoon and Nelly was joined wife Ashanti, who welcomed the couple’s son Kareem Kenkaide "KK" Haynes just three months ago.

“Dilemma” is, of course, an iconic early aughts track for a variety of reasons, not least of which involved Kelly’s infamous attempt to send a text message using Microsoft Excel in the song’s music video.

“Do you know how much flak I get for that?” Kelly quipped back in March on Mythical Kitchen’s “Last Meals” series, adding that the moment was never discussed by the music video’s creative team. “I’m actually mad at them that they didn’t, because they made me look nuts.”

But these days, Kelly has swapped out fake text messaging for family life with her and Tim’s sons Titan, 10, and Noah, 3. And the Destiny’s Child alum has embraced the motherhood whole-heartedly—even through the ups and downs.

After all, she recently shared advice a fellow mom that has helped guide her journey.

"She was like, 'You're gonna screw this up and that's OK.' The times you get it right, really celebrate yourself,'" Kelly told E! Newsin May. "By nature, the negative trumps the positive moments we should have. So, celebrate yourself when you get everything down.”

Watch E! News weeknights Monday through Thursday at 11 p.m., only on E!.