Towards the end of his life, trumpeter Miles Davis predicted who some of the greatest artists of the future would be. Published in his autobiography, which was released posthumously, Davis selected three musicians to carry on the burning fire of music: Fela Kuti, Kassav and Prince.

With the recent passing of the legendary guitarist, we can look back at this unique relationship between Davis and Prince. Here’s Miles Davis talking about Prince’s influences and abilities:

In the autobiography, Davis wrote: “Prince is from the school of James Brown … but Prince got some Marvin Gaye and Jimi Hendrix and Sly in him, also, even Little Richard. He’s a mixture of all those guys and Duke Ellington. He reminds me, in a way, of Charlie Chaplin, he and Michael Jackson … I think Prince’s music is pointing toward the future.”

Indeed, Prince would press the boundaries of music forward throughout his entire career, even releasing three albums in the last year alone. Prince’s passing hangs heavy in the hearts of many.

One magical night, on the final day of 1987, the two musicians collaborated for a jam session that none will soon forget. Playing music from both of their catalogs, as well as tracks from legends like James Brown, Duke Ellington and more, this was an unforgettable New Year’s Eve at Paisley Park.

Listen to the recording from this 12/31/87 session below: