Jackson performed in Grand Rapids, Michigan, on Sept. 11, but ET has learned that she did so against medical advice because she didn't want to let her fans down. The "All For You" singer is reportedly suffering from an ear issue that is causing her to travel by luxury tour bus now rather than fly.
If she felt any pain, no one in the audience on Friday night could tell. Eyewitness tell ET that while she rarely addressed the crowd directly, Jackson sounded fantastic. "She looked very happy and healthy and came off very sincere and sweet," one fan said.
"It was a nonstop dance party," a second eyewitness added. "She is back as the Queen of Pop. She hasn't lost a step."
From the many videos uploaded on social media by happy fans, it's clear that Jackson has been prepping long and hard for this tour, and her work has paid off. Just check out her energetic choreography in the videos below.