Jazz heavyweights Robert Glasper, Derrick Hodge, and Chris Dave jammed with house band The Roots on The Tonight Show Starring Jimmy Fallon earlier this week.

Rather than serving as guests or musical guests, the trio sat in with The Roots and chopped it up with host Jimmy Fallon in the same casual drop-in style as the many musicians who stopped by Glasper’s sold-out Robtober residency at New York’s Blue Note Jazz Club last month. Fallon recounted his own visit to see Glasper perform there and asked about an incident on the last night of the residency where a fan scaled the venue and climbed into the dressing room after being unable to get a ticket.

The host also invited Glasper and his companions to show the audience how quickly they could improvise one of their famously cool hip-hop grooves, and the trio promptly delivered, with Glasper laying down a piano melody followed by layers of drums and bass from Dave and Hodge. After hearing the groove, Fallon asked Dave about his strange-looking “spiral cymbal” and played (and lost) a quick round of guess the cymbal.

Watch the interaction between Robert Glasper, Derrick Hodge, Chris Dave, and host Jimmy Fallon on The Tonight Show below. The trio returns to the show tonight, Wednesday, November 8th.

Glasper was there in part to promote the new limited-edition 3LP Black Radio III: Supreme Edition, which comes with tri-color handmade color-in-color vinyl, plus nine bonus tracks with Mac Miller, Bilal, PJ Morton, India.Arie, and more. To order the album, and to find a full list of Glasper’s upcoming shows, visit his website.

Jimmy Fallon Welcomes Robert Glasper, Derrick Hodge, & Chris Dave To Sit In With The Roots