GRAMMY-winning gospel icon Shirley Caesar pays tribute to her longtime friend, the late Aretha Franklin, during the "Aretha! A GRAMMY Celebration For The Queen Of Soul" airing on March 10.

"Aretha was my friend, we traveled together when we were children, we sang together," she said. "I am so glad, I am so glad that everybody, that all of these different organizations, if you will, are remembering her because she was such a blessing."

Caesar will pay tribute to the legend's gospel roots. "Aretha comes from a background of preachers and singers and so she could not help, but be the person that she was when it comes to gospel," she said.

The singer performs "Mary, Don't You Weep" along with Yolanda Adams and BeBe Winans. She told the Recording Academy backstage during the taping earlier this year: "I know I can't sing it like her, but I can Caesrize it, you know."

Tune in this weekend to see all the special moments celebrating the icon. "Aretha! A GRAMMY Celebration For The Queen Of Soul" will air on Sun., March 10 at 9 p.m. EST / 8 p.m. CT on CBS.

Sneak Peek: Patti LaBelle, John Legend, SZA, Alicia Keys, Common & More Celebrate Aretha Franklin