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Steve Lacy was joined by Thundercat onstage at the 2023 Grammy Awards tonight (February 5). They performed Lacy’s Gemini Rights song “Bad Habit,” backed by a full band. Check it out below.

Earlier in the evening, Lacy won the 2023 Grammy Award for Best Progressive R&B Album for Gemini Rights, marking his first-ever Grammy win. “Bad Habit” earned him nominations in the Record of the Year, Song of the Year, and Best Pop Solo Performance categories. Lacy’s 2023 nods follow past nominations for Best Urban Contemporary Album for 2019’s Apollo XXI and 2015’s Ego Death—albums he released with his band, the Internet.