"Wow, when I think about it, [Ashford & Simpson] have been like mentors in a way, and embraced me from the beginning," GRAMMY-nominated R&B great Kenny Lattimore said while backstage at the 2019 GRAMMY Salute To Music Legends.

 During the celebration, GRAMMY nominees Valerie Simpson and her late husband Nickolas Ashford, who wrote and produced decades of hits as Ashford & Simpson, received the Recording Academy's prestigious Trustees Award.

To pay tribute to their indelible musical impact, Lattimore and Simpson herself took the stage together to duet two early Ashford & Simpson-penned hits, originally recorded by the one and only GRAMMY-winning Prince Of Soul, Marvin Gaye.

The pair sang "Ain't No Mountain High Enough" and "You're All I Need To Get By," both of which were recorded by Gaye and Tami Terrell at Motown, in 1967 and 1968, respectively. The former song was inducted into the GRAMMY Hall of Fame in 1999.

"But doing this duet program tonight is just the highest honor I could do for Mr. Nickolas Ashford," Lattimore added, before offering up his smooth, rich vocals to bring the unforgettable songs to life.

Don't forget to tune into GRAMMY Salute To Music Legends on Oct. 18 at 9 p.m. ET on PBS (check your local listings) to watch Simpson's and Lattimore's full performance and many more heartwarming moments.

Watch Asia Ashford Honor Her Parents, Ashford & Simpson, At GRAMMY Salute To Music Legends