Following an introduction from Whoopi Goldberg, singers John Legend and Jordin Sparks paid tribute to the late R&B icon Whitney Houston at the 2012 Billboard Music Awards in Las Vegas.

John Legend performed “The Greatest Love of All” at the piano, and Whitney’s “Sparkle” co-star Jordin Sparks sang a beautiful rendition of “I Will Always Love You.”

After the performances, Whitney’s daughter Bobbi Kristina accepted the Billboard Millennium Award on behalf of her mother, who died in February 2012.

“I just really want to say thank you to everyone who supported us through it all, not just from when it was good, but when it was bad, to just everything,” the 19-year-old said. “Thank you so much for showing that much love ’cause she deserved it. I’m just blessed to have been in such an incredible woman’s life. There will never be another one, ever.”

Watch the emotional Whitney Houston tribute below: