Last night R. Kelly stopped by The Arsenio Hall show to chat about his new album. But things changed when the news of Nelson Mandela's death broke. Hall and Kelly reminisced about meeting the legendary and inspiring leader then dedicated the show in his honor. A short montage aired prior to Kelly's musical performance, where he played "Soldier's Heart," a song he wrote about Mandela and performed for him back in 2009.

On a less serious note, the two sat down to chat before Kelly hit the stage. Hall asked him, in relation to Kelly's new album Black Panties, whether it had to be panties or if it can include thongs, too.

"No thongs," Kelly said. "It has to leave to the imagination. If you wear thongs, you might as well have you a** just out. But you gotta have the panties. Right ladies? Seriously, you know. ...I'm a panty man, absolutely."

Kelly then plugged the deluxe version of his album, which includes a pair of black lace panties. They also talked about the culture and history of women throwing panties on stage.

Then the conversation turned more sentimental when Kelly explained that he was a momma's boy and that his mother is responsible for who he is today.

"The best mom is the mom that's going to give you the real on life," he said. "Not just paint the beautiful picture but also tell you there's going to be struggle and that you're going to go through things. But depending on how you handle your problems that will determine the measure of your worth. So that's why my mom taught me."

Hall then asked him what it was that got him through the tough times. "You have that voice in your head that tells you to quit," Kelly said. "But I'm allergic to the bottom man. I refuse. You know, the top is where it is."

When it was time for R. Kelly to hit the stage played "Soldier's Heart" as well as "Shut Up" and a series of improv songs.

Check out the replay of "Soldier's Heart" here, and let us know what you think in the comments section below!

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