Mariah Carey, Brandy, Monica and Chaka Khan were among those who paid tribute to the late Whitney Houston at Sunday’s BET Awards.

Carey introduced the tribute with an emotional speech where she joked about the perceived rivalry between the two vocalists and reflected on their friendship after their Oscar-winning duet for The Prince of Egypt.

Before Monica took the stage to sing “I Love The Lord,” Carey remembered the last time she saw Houston – a year ago in London.

“I miss my friend, and I miss hearing her voice and laughter, but we’ll always have the music,” she said. “We’ll always have that voice we all fell in love with. She inspired us all.”

Brandy followed Monica with Houston’s dance hits, “I’m Your Baby Tonight” and “I Wanna Dance With Somebody.” Gary Houston, Whitney’s brother, also performed before introducing his mother, Cissy Houston, who sang “Bridge Over Trouble Water.”

Watch Carey’s speech and the tribute performances, which also included Chaka Khan, below.

Visit BET.com for the full list of 2012 award winners, which included Beyonce, Nicki Minaj and Chris Brown.