Lizzo Plays the Flute During Surprise Performance with Incubus in L.A.: 'Beyond a Dream'

The performance marks Lizzo's first time onstage since she was sued in August by several of her former backup dancers

Lizzo fulfilled a "childhood dream" this weekend in rocking out with Incubus, in what marked her first performance since she was sued in August by several of her former backup dancers.

The "Drive" rockers invited the pop star, 35, to perform with them in a surprise appearance at their Hollywood Bowl show in Los Angeles on Friday. Fans captured footage of the singer joining the ‘90s icons by playing flute on their hit 2001 song “Aqueous Transmission.”

In a fan-recorded clip, the “Special” singer was seen joining Incubus frontman Brandon Boyd at the front of the stage, where she played flute throughout the ethereal track and occasionally sang back-up vocals. Wearing a see-through lace dress and gold jewelry, the Grammy-winning hitmaker swayed throughout the song, which appears on the band’s recently re-released 2001 album Morning View.

Lizzo shared a video on Instagram of herself accompanying the alternative rock group, too. In footage of the song's outro, she continued playing after the five-piece band concluded and Boyd, 47, embraced her with a hug.

“Give it up for motherf------ Incubus,” the singer declared.

Related: Lizzo Hit with Another Lawsuit: Designer Alleges Her Team Fostered 'Racist and Sexualized' Work Environment on Tour

In the caption of the video, she opened up about how significant the guest appearance was to her. “Those who know me… KNOW. This is BEYOND a dream and FULL CIRCLE,” she wrote.

The star continued, “I saw @incubusofficial perform 20 years ago at @woodlandspavilion for morning view (I’ve been a fan since S.C.I.E.N.C.E) and now to be at @hollywoodbowl performing Aqueous Transmission with @sashabefluting — I WAS A PUDDLE ON THE FLOOR — thank you INCUBUS for everything but also for inviting me on stage and making my childhood dreams come true 💖💖💖💖.”

The Grammy-nominated band also took to Instagram to share a carousel of photos and a video from the night. Lizzo, dressed in Incubus merch, posed for a smiling photo with the quintet, and they also shared a candid shot of the singer taking a selfie with Boyd.

Related: Lizzo's Former Dancers Say They're Not Backing Down from Allegations: 'We Were Treated Poorly' (Exclusive)

“Thank you @lizzobeeating for joining us at the Bowl. Was an honor to@share the stage with you. 🪈🥂,” the band captioned the post.

On Sunday, the “Truth Hurts” singer shared a carousel of additional photos and videos on Instagram of her experience. “IM NOT OVER IT 😫😫😫😫😫😫😫😫,” she captioned the post, which featured shots of her rocking out in the crowd and from backstage.

In a video of her posing for a photo with the band, Boyd thanked the performer and she responded, “Don’t thank me anymore, thank you.”

The Friday night surprise performance was Lizzo's first time onstage since former backup dancers Arianna Davis, Crystal Williams, and Noelle Rodriguez filed suit against her in August. The performers alleged the singer-songwriter body-shamed them and pressured them into touching nude performers while at a club in Amsterdam, among other claims.

Shortly after the lawsuit was filed, the star shared a lengthy statement on social media in response, stating that she is “not the villain” and that the allegations being made against her were “too outrageous” not to address.

Related: Lizzo Vows to 'Continue to Be Who I Am, No Matter Who's Watching' amid Legal Troubles

The “Rumors” singer was hit with another lawsuit in September. Fashion designer Asha Daniels, a fashion designer who toured with the star earlier this year, filed suit against the singer and members of her team, alleging that although Lizzo preached body positivity, her employees were forced to work in a “racist and sexualized” environment.

Lizzo's rep Stefan Friedman replied to the allegation in a statement to PEOPLE: “As Lizzo receives a Humanitarian Award from the Black Music Action Coalition for the incredible charitable work she has done to lift up all people, an ambulance-chasing lawyer tries to sully this honor by recruiting someone to file a bogus, absurd publicity-stunt lawsuit who, wait for it, never actually met or even spoke with Lizzo. We will pay this as much attention as it deserves. None.”

According to court documents obtained by PEOPLE in late September, the performer (whose real name is Melissa Viviane Jefferson) formally denied her former dancers’ accusations and asked the case be dismissed.

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Lizzo also claimed that the dancers are acting unethically in their suit and demanded a jury trial.

“This is the first step of a legal process in which Lizzo and her team will demonstrate that they have always practiced what they’ve preached – whether it comes to promoting body positivity, leading a safe and supportive workplace or protecting individuals from any kind of harassment," a spokesperson for Lizzo said in a statement at the time. "Any and all claims to the contrary are ridiculous, and we look forward to proving so in a court of law."

Meanwhile, a spokesperson for her former dancers said Lizzo's response "merely consists of boilerplate objections that have nothing to do with the case."

"That said, the key takeaway is that Lizzo is agreeing to our clients’ demand for a jury trial," the statement continued. "We look forward to presenting our case in court and letting a panel of her peers decide who is telling the truth.”

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