Janelle Monáe brought down the house with a major performance during last night’s episode of “The Tonight Show.” The artist, and her dancers, showed off some serious moves, and she even greeted Jimmy Fallon with a Namaste. Jidenna also made an appearance half-way through the song to perform his verse.

“Yoga” is the second single from Monáe’s upcoming album, The Eephus. Watch the performance below.