West performed the song 'Lost in the World' at the ceremony, which samples Scott-Heron's own track 'Comment #1'.
The so-called 'Godfather of Rap' died last week after contracting an unknown illness during a recent trip to Europe.
Scott-Heron's death has led to an outpouring of tributes from across the music industry, including the likes of Cee Lo Green and Eminem.
In addition to West's performance, Scott-Heron's daughter Gia performed some of her own poetry in tribute to the singer.
Listen to Gil Scott-Heron's classic 1974 track 'The Bottle' below: