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The singer made her first major live appearance since 2004 and her first televised show in seven years with a set broadcast on Good Morning America, People reports.
Houston said: "I'm overwhelmed. I love you all saying hello to me. I never left, I never left."
For her performance of 'My Love Is Your Love', she was joined on stage by her 16-year-old daughter Bobbi Kristina.
Before singing 'I'm Every Woman', Houston told the crowd: "I did Oprah yesterday and it was so good, it was so wonderful and it was such a good feeling. There were some emotional times.
"I talked so much, my voice... I shouldn't be talking. I should be singing."
Houston's appearance on The Oprah Winfrey Show is scheduled to air on September 14.
> Click here to read our review of Whitney's comeback album
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