Janet Jackson performing at the 2010 Essence Festival

*Janet Jackson enthralled the Essence Music Festival audience Friday, kept them on their feet for more than two hours and reminded fans why seeing her in concert was worth waiting two years.

From the opening notes of “The Pleasure Principle” to “Control” to “Rhythm Nation,” the Grammy Award-winning singer enticed, teased and brought her fans on a journey through her No. 1 hits.

“She was unbelievable,” said Ed Downs of Miami. “It was definitely worth the wait. I’m happy to see her make a comeback. It was impressive.”

Jackson marked her return by closing the festival’s first night inside the Louisiana Superdome in New Orleans. It was her first time at the festival, which runs through Sunday.

Former NBA player Anferenee Hardaway called Jackson’s performance “absolutely perfect,” and said no one could tell she had been off the concert circuit for any length of time.

“She definitely gets better with age,” he said, smiling.

Fans got a glimpse of Jackson’s new, sassy, short-cropped hair and her signature, shapely figure on the finale show of American Idol where she rocked classics like “Again” and “Nasty” and her latest release, “Nothing,” from the soundtrack of the movie, “Why Did I Get Married Too?,” which she also starred in.

But near the end of her show Friday, they were treated with even more as she depicted a risque, S&M scene with a male participant from the audience, whose hands and arms were strapped into a straight jacket as Jackson – in a flesh-toned body suit – worked him over, whip in hand.

He mouthed, “Thank you,” and couldn’t take his eyes off her, getting roars of approval, looks of envy and applause from the crowd.

Read MORE of this AP report HERE.

Watch video of her show (and the “good part”) here: