Janet Jackson made Missy Elliott break down in tears when she presented the rapper with the Visionary Award at Essence's 2018 Black Women in Music Awards on Thursday (January 25).

Jackson, who worked with Elliott on songs like 2001's "Son of a Gun" and 2015's "BURNITUP!," flew into New York City from London to make a surprise appearance in honor of her longtime collaborator and friend with a moving speech.

"Some act, some choreograph, some write hit songs, some create whole new sounds, some women are able to make their mark in one of these fields, but there’s only one woman who has made her mark in all these fields," Jackson began, addressing the rap legend. "Not only have you made your mark, but she’s done so with boldness and courage."

"Creativity is a beautiful thing, and when creativity flows so freely from a musical genius, all we can do is express gratitude," she continued, moving Elliott to tears. "I am so grateful for Missy’s beautiful soul....I’m grateful for how she stood toe-to-toe with these guys, showing them that a woman can do it all, take charge, lead the way, innovate and create without fear. Grateful for how she’s cleared the way, the path, for new generations of young talent to follow.”

The moment brought the two women full-circle: In 2001, Elliott presented Jackson with the Artist Achievement Award at the Billboard Music Awards in Las Vegas.

Afterwards, Elliott thanked her friend, calling the appearance a "surprise."

"I’ve known Janet for over a decade—and this is not just someone I do music with," she shared. " I can call Janet any time of night and she will listen...The times that I may have felt like giving up, she’s always given me an encouraging word."

Watch an excerpt from the full speech, below: