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After months of ill health, Aretha Franklin returned to the stage Tuesday night with a grand performance of her classic “Respect” at the 30th annual Night of Stars Gala in Manhattan, reports WENN.

And then Miley Cyrus said she “considered” joining the veteran on stage to twerk.

The Queen of Soul, 71, had been battling an undisclosed illness since 2010, when she underwent an operation to remove a tumor. Her professional life has been plagued with subsequent undisclosed issues that have forced her to cancel a string of shows throughout 2013.

But she made her comeback in glamorous style at the Night of Stars fashion event, where designer Marc Jacobs was honored with its Superstar Award in recognition of his talents. He was presented with the award by Cyrus, who told the crowd she had considered joining Franklin onstage to re-enact her infamous appearance at the MTV Music Video Awards in August.

Cyrus told the crowd, “If I knew that was where Aretha was going (with her performance) I would have come out here. She asked me if I was going to twerk, but I didn’t know if this was the right audience for that.”

Other winners at the event included style gurus Christopher Kane, Angela Missoni and Alexander Wang, while guests such as Sofia Coppola, Kate Upton and Karlie Kloss walked the red carpet.

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