Hearts and minds were saddened by the loss of world leader and activist Nelson Mandela yesterday (Dec. 5). While his death was no shock, the grief people felt when the news was announced is immeasurable. Mandela, affectionately known as Madiba, touched many-celebrities including R. Kelly. Kelly took to the stage while visiting 'The Arsenio Hall Show' to perform 'Soldiers Heart,' a song he wrote to honor the man behind the abolishment of apartheid in South Africa.

"Several years ago, R. Kelly composed a special song for Nelson Mandela, and performed it in [his] living room," Arsenio Hall announced before turning the stage over to Kelly. Truly affected my icon's passing, the R&B singer decided to publicly pay homage to to Mandela by performing this intimate track live.

After the show, Kellz and Arsenio sat backstage to share their personal thoughts on Nelson Mandela and his passing. "Being around him inspired me to go further in my life and my walk and my career," Kelly shared. "He's just an incredible power."

Watch the two share their thoughts on Mandela below.