Looks like we don't need to tell Janelle Monáe how to get to Sesame Street, because she's already been there!

According to Billboard, the soul / R&B singer recently stopped by the famed children's PBS series to teach the cast, and the show's viewers, a thing or two about "The Power of Yet."

Taking to the stage just after Elmo's unfortunate math problems – funny, he still can't seem to add 2+2 after all these years – Monae sings an inspiring tune that assures us all to keep on trying, and despite all of the hardships life has to offer, never give up because the power of "yet" is incredibly important.

Joined by the Muppets, including fan-favorites Bert, Big Bird, Cookie, Elmo and Grover, Monáe's performance is an absolute win. Check out the video of "The Power of Yet" below:

Monáe recently spoke with Billboard about her experience, calling it one of her dreams. "I am so excited to be living one of my dreams," she said, adding, "to be on Sesame Street."

The "Q.U.E.E.N." singer continued, "I'm here because I am teaching everybody on Sesame Street the importance and the power of 'yet.' Never, ever, ever give up because there's so much power in 'yet.'"

On having one of pop's biggest names around, Sesame Street music director Bill Sherman told the publication, "I always tell people we're not trying to write for any particular age group. We're trying to write for everybody. By using current pop artists on the show, it opens kids up to all those sounds. And it opens up those artists to a generation they may not have gotten to."

Check out the behind-the-scenes of Monáe's Sesame Street feature here, also via Billboard:

The 45th season of Sesame Street premieres this month on PBS.

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