Maxwell got into the groove when he taped “VH1 Storytellers” before an intimate 150-member audience at Metropolis Studios in New York City earlier this month. The R&B crooner and his 10-piece, all-star band delivered a soulful set, bringing fans onstage at one point for an impromptu dance party.

“‘Storytellers’ has been around for 15 years, and it’s been 15 years since I put out my first album Maxwell’s Urban Hang Suite,” the humble star told the crowd. “You have this dream as a kid, and the next thing you know you’re at ‘VH1 Storytellers’ and the crowd is singing along to your songs. It’s a blessing.”

During the 12-song set, Maxwell performed hits spanning his catalogue, including “Pretty Wings” and the war-inspired “Fistful of Tears” from his 2009 Grammy-winning album BLACKsummers’night. As he prepares for the sequel’s arrival later this year, he took fans back in time to play past favorites and celebrate his storied career.

“VH1 Storytellers: Maxwell” will premiere on June 17 at 11 p.m.