R. Kelly might have a very sexual side to him, which has been on display as he's been promoting Black Panties, but last night on The Arsenio Hall Show, he showed a more mature and somber side. Kelly spoke about the time that he performed the song for Nelson Mandela, who passed away yesterday, at the 2010 World Cup. Kelly said that the late freedom fighter and civil rights leader's legacy would live on forever. "I'm just blessed to have walked in his presence," he said.

This then led to Kelly performing "Soldier's Heart," a song that appears on his 2005 album My Diary. It was a simple, yet poignant, rendition of the song, with just Kelly playing the piano and using his range.

The touching moment was part of a full R. Kelly takeover of the show. He had a lengthy sit-down with Arsenio and interacted with the audience, as well as performed "When A Woman Loves" and "Shut Up." Watch all of that below.

Black Panties is due out next Tuesday.

[via XclusivesZone]

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