Douglas Gorenstein/NBC
May 19, 2015 at 02:20 PM EDT

Judging by Janelle Monáe’s performance of “Yoga” on Monday’s The Tonight Show, the singer may not be too clear on what “yoga” actually is. But that doesn’t matter: Her onstage dance party was a lot more exciting than watching a class get their mountain poses on. 

The Roots provided instrumental back-up, and Jidenna showed up kneeling in an aisle about two-thirds of the way through the song to put in his verse as Monáe mouthed along. And although the performance itself wasn’t exactly yoga-tastic, Monáe did close out her time on-camera with a nod to the practice: “Namaste,” she said when Jimmy Fallon came out to thank her. 

“Yoga” is the second single off Monáe’s upcoming The Eephus. 

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