The band took to the main stage around 8.30pm to the opening bars of their popular track 'Do You Remember The First Time?'.
A mesh curtain then dropped to reveal the group and frontman Jarvis Cocker, who proceeded to perform the track in full.
Before playing 'Joyriders', the singer dedicated the song to the rioters that caused havoc across the UK just weeks ago.
He declared: "This is dedicated to those people who were rioting. They weren't rioting, they were just playing Grand Theft Auto outdoors."
Ahead of playing 'Pencil Skirt', Cocker explained how they first performed at the festival back in 1994.
He revealed: "Strange enough, exactly 17 years ago today is when we played Reading for the first time."
Following renditions of 'Disco 2000', 'Sorted For E's & Wizz' and 'This Is Hardcore', the frontman told the audience that as well as celebrating the anniversary of their first headline set at Reading, it was also the first time that they performed one of their most iconic singles.
Cocker told the audience: "I mentioned earlier how it was exactly  years since we first played here, but it's also exactly  years since we played this song for the first time.
"I remember coming here and sh**ting myself about playing it for the first time in concert.
"If Pulp were only ever remembered for this song, I don't care - it's a good song."
He then joked: "Black Lace are only ever remembered for 'Agadoo' and that's a good song."
The band then concluded their set with 'Common People', to a rapturous response from the thousands of festival-goers in the main arena.
Digital Spy is bringing you news from Reading Festival 2011 all weekend. Click here to read our full coverage of the music event.
Pulp's co-headline Reading Festival 2011 setlist was as follows:
'Do You Remember The First Time?'
'Sorted For E's & Wizz'
'This Is Hardcore'
Watch Pulp perform 'Disco 2000' at Reading 2011 below: