D'Angelo will make his first televised performance appearance in 12 years at the BET Awards, the network announced on Thursday.
The show will air at 8 p.m. ET/PT on July 1.
The long-absent R&B star has returned to the music world this year, playing a handful of European dates and appearing at Bonnaroo for a surprise set earlier this month. He's set to appear at the Essence Music Festival in July and Jay-Z's Made in America event in September.
Previously announced performers for BET's annual awards show include Usher, 2 Chainz, Big Sean, Nicki Minaj and Chris Brown. Kanye West leads the nominations with seven, including several for his "Watch the Throne" collaboration with Jay-Z.