After missing the first eight dates of his star-studded Outlaw Music Festival tour due to illness, 91-year-old country legend Willie Nelson returned to the stage on Thursday at Freedom Mortgage Pavilion in Camden, NJ to take part in his annual 4th of July Picnic alongside Bob DylanRobert Plant & Alison KraussLukas NelsonMavis StaplesMaren MorrisCelisse, and more.

Throughout Willie’s recent stretch of absences, his son, Lukas Nelson, has led his Family Band at the initial stops on the Outlaw tour. Lukas was on hand on Thursday, too, to welcome his dad back into the fold with featured appearances on the Larry Davis-penned, Stevie Ray Vaughan-popularized “Texas Flood” and Pearl Jam‘s “Just Breathe”. Other highlights of the set included the live debut of recently released Willie tune “The Border” and, of course, a rendition of “On The Road Again” that packed an extra emotional punch following the Red-Headed Stranger’s recent stint on the disabled list. Watch a selection of videos of Willie Nelson performing at his 2024 4th of July Picnic in Camden, NJ below.

Related: Bob Dylan Revisits Grateful Dead “Stella Blue” Cover As Part Of Outlaw Fest Setlist Shakeup [Videos]

Willie Nelson first started hosting his annual 4th of July Picnic in his native Texas back in 1973. It has returned on a semi-annual basis since then, often in new locations. Since 2015, the event had taken place at Austin, TX’s Austin360 Amphitheater. The last edition of Willie’s Independence Day soiree not to take place in Texas came in 2009 when Nelson joined up with Bob Dylan and John Mellencamp at South Bend, IN’s Stanley Coveleski Stadium.

Nelson is due to rejoin his Outlaw Music Festival tour alongside Bob Dylan, Robert Plant & Alison Krauss, and Celisse this Saturday, July 6th in Bethel, NY. For a full list of upcoming Outlaw Music Festival tour dates, head here.

Willie Nelson – “Whiskey River”, “Stay All Night”, “Bloody Mary Morning” – 7/4/24
[Video: Dan Schram]

Willie Nelosn & Lukas Nelson – “Just Breathe” (Pearl Jam) – 7/4/24

[Video: Dan Schram]

Willie Nelson – “On the Road Again” – 7/4/24

[Video: Mass Broadcast]

Willie Nelson, Lukas Nelson, Celisse, More – “Living in the Promised Land” – 7/4/24
[Video: Dan Schram]