The reclusive singer rose to fame in 2000 with his single 'Untitled (How Does It Feel)', but quickly faded from the limelight due to pressures from his success.
In 2011 he pled guilty in a prostitution bust, after police officers claimed that he had attempted to purchase oral sex from an undercover female officer in New York's West Village.
The AP reports that the singer's latest performance, his first US appearance in 12 years, took place at the Bonnaroo Music & Arts Festival on Sunday (June 10), during musician Questlove's set.
Fans during the set cheered as he took the stage, playing a 90-minute set of covers that included Led Zeppelin's 'What Is and What Should Never Be', Jimi Hendrix's 'Have You Ever Been to Electric Ladyland', and The Beatles' 'She Came in Through the Bathroom Window'.
The singer did not comment on his decade-long departure from music during the set, and addressed the crowd only once when he asked: "Do y'all want us to go home yet?"
After the set, Questlove remarked that he has "been waiting for 12 years" to perform with D'Angelo.
He added: "Me doing it was basically showing him, 'Look, you are so missed you don't even realise how much you are missed', hoping that this will be the adrenaline boost that will finally get him to turn his record into the label. It's done, it's brilliant. I played on it. I know it's brilliant. Now it's just time to let his kids go and show it to the world. That's what I'm here for."
The 38-year-old is expected to perform new music this July at the Essence Music Festival.