The 54-year-old pop icon has teased fans with one-offs in the past, such as her performance of "I'm Just Here for the Music" in 2009 on American Idol and a medley of her most popular hits for Dancing With the Stars in 2012, but this was her first full headlining set in more than two decades.
Abdul's highly choreographed dance numbers were reminiscent of her classic music videos like "Straight Up" and "Opposites Attract."
"I am just so happy to be able to come back out and do what I love to do and to have such a warm welcoming reception. It was awesome!" she said. "If I can still can do it, why not?"
Prior to the Mixtape Festival, Abdul's most recent on-stage performance was on Lip Sync Battle in January, when she made a surprise appearance during Jenna Dewan-Tatum's rendition of her 1988 smash, "Cold Hearted."