"I am just so happy to be able to come back out and do what I love to do and to have such a warm welcoming reception. It was awesome!" she said. "If I can still can do it, why not?"
Prior to the Mixtape Festival, Abdul's most recent on-stage performance was on Lip Sync Battle in January, when she made a surprise appearance during Jenna Dewan-Tatum's rendition of her 1988 smash, "Cold Hearted."
Her latest performance might have given her the bug again to get up on stage more often.
"I wanted to leave my fans with a good feeling and to remember that I really am always forever their girl," she said.
In addition to Abdul, New Kids on the Block, Boyz II Men, 98 Degrees, O-Town, Ryan Cabrera and the girl group Dream also performed at the festival.