R&B, Hip-Hop and Soul legends attended the 40th anniversary taping of the 2011 Soul Train Awards in Atlanta on Thursday (Nov. 17) to celebrate "peace, love and soul."

Host Cedric the Entertainer opened the show at the historic Fox Theatre with a hilarious dance number. Other performances of the night included Common and Marsha Ambrosius, Lloyd ("Dedication to my Ex"), Miguel ("Girls Like U"), Cee Lo Green and Melanie Fiona ("Fool for You"), Anthony Hamilton ("Woo") and Robin Thicke ("Love After War").

Billboard 21 Under 21 group Mindless Behavior performed their hit 'Girls Talkin' Bout' for the tweens in the room. But it was the tribute performances that stole the show. Gladys Knight and Earth Wind & Fire were honored with the Legend Award and tribute performances by Marsha Ambrosius, Tamar Braxton, Chrisette Michelle, Natalie Cole, Robin Thicke, Musiq (Soulchild), Eric Benet, Joe, Bootsy Collins and more.

The late, great Heavy D was paid tribute by legends including Doug E. Fresh, Naughty by Nature, Goodie Mob, Kurtis Blow and more performing their closet friend's greatest hits.

Only four awards from the eleven categories were handed out at the taping:

Best New Artist
Miguel

Best Male R&B/Soul Artist
Cee Lo Green

Best Female R&B/Soul Artist
Jill Scott

Record of the Year (The Ashford & Simpson Songwriter's Award)
"Far Away" - Marsha Ambrosius

Check out who else took home a 2011 Soul Train award on Sunday, Nov. 27 at 9 p.m. on both BET and Centric.