After missing several recent shows due to an undisclosed illness, Willie Nelson made his triumphant return to the stage at his annual 4th of July Picnic in Camden, New Jersey on Thursday night.

The 91-year-old country singer took the stage shortly before 10:00 p.m. local time and by all accounts sounded in fine form. Accompanied by his son Lukas Nelson and the Family Band, Willie performed more than 20 songs, including “On the Road Again,” “Always on My Mind,” “Roll Me Up,” and “Angel Flying Too Close to the Ground.” Nelson also debuted “The Border,” from his newly released album of the same name. Watch fan-captured footage of Nelson’s performance below.

Get Outlaw Music Festival Tickets Here

With his health issues hopefully behind him, Nelson will rejoin the “Outlaw Music Festival Tour” with co-headliner Bob Dylan beginning Saturday, July 6th in Bethel, New York. The tour, which also features appearances from Robert Plant & Alison Krauss, John Mellencamp, Billy Strings, and others, is currently set to run through mid-September. Tickets are available to purchase here.