R&B singer Robin Thicke performed a duet with his mother Gloria Loring, 70, at VH1’s 2nd annual Dear Mama: An Event To Honor Moms on Saturday, May 6. The special is set to air Monday, May 8.

Robin, 40, paid tribute to his mother, who is best known for her role as Liz Chandler on U.S. soap series Days of Our Lives. After performing a touching song, he presented her with a bouquet of flowers.

Mary J. Blige, Ludacris, singer Kelly Rowland, actor Anthony Anderson, singer Maxwell, TV personality La La Anthony, NBA star Chris Paul, producer DJ Khaled, and more also attended the event, which took place at the Huntington Library and Botanical Gardens in Pasadena, California.

Gloria was married to Robin’s father, actor Alan Thicke, from 1970 to 1984. The Growing Pains star tragically died of a heart attack at the age of 69 in December.

Robin recently made headlines for a bitter custody dispute with ex-wife Paula Patton over their seven-year-old son Julian Fuego.

The Mission: Impossible actress has previously accused her ex-husband of physically abusing both her and their son, and she obtained a protective order.

She also secured sole legal and physical custody of their son, while Robin was limited to three supervised visits a week at a neutral location.

But they’ve since reached an amicable decision to co-parent their son. Father and son were spotted together running errands in Malibu, CA. last week. Julian was overheard telling his dad a funny story as they returned to Robin’s black Porsche.

Photos by Bens/BACKGRID, Rich Fury/Getty Images