photo via Wesley Hodges on Twitter

Herbie Hancock and Kamasi Washington kicked off their run of co-headlining tour dateson Tuesday at the Wolf Trap in Vienna, VA, bringing together two jazz icons from different generations, and the musicians teamed up during Hancock’s set for a take on one of the keyboardist’s classic compositions.

The collaboration took place at the tail-end of the show, when Hancock and his band—featuring drummer Vinnie Colaiuta, bassist James Genus, guitarist Lionel Loueke and multi-instrumentalist Terrace Martin—brought out Washington and his saxophone for a encore rendition of Hancock’s iconic track “Chameleon,” which saw the bandleader showcase his keytar chops as he traded riffs with Washington.

Watch a fan-shot clip of the encore below. Hancock and his band play tomorrow evening at New York’s Beacon Theatre, while Washington heads to Jersey City, NJ. Hancock and Washington’s next co-headlining date falls this Sunday, Aug. 4, in Philadelphia, after both acts play Rhode Island’s Newport Jazz Festival this weekend.