The late rap legend Tupac Shakur joined Joan Baez, Pearl Jam and British prog legends Yes after being inducted into the Rock and Roll Hall of Fame.

They were inducted alongside the Electric Light Orchestra (ELO) and Journey during a concert in New York.

Tupac's award was collected by his friend, fellow rapper Snoop Dogg. Tupac was killed at the age of 25 in a still unsolved drive-by shooting in Las Vegas in September 1996 and he is only the sixth rap act to be inducted in the Rock and Roll Hall of Fame in its 30-year history.

Treach, YG, T.I. and Snoop Dogg perform a Tupac Shakur rap 

In an emotional speech, Snoop recalled how he and Shakur were "two black boys struggling to become men" in the early 1990s.

"Tupac's a part of history for a reason - because he made history," he said when he collected the award. "He's hip hop history. He's American history. Tupac, we love you. You will always be right with us. They can't take this away from you homie."

In her acceptance speech, 76-year old Baez called for global compassion.

"Let us together repeal and replace brutality and make compassion a priority," she told the Hall of Fame audience. "Let us build a great bridge, a beautiful bridge, to welcome the tired and the poor."

Joan Baez performs against a backdrop of her younger self 

Baez sang the traditional ballad Swing Low, Sweet Chariot, varying the lyrics towards the end as she expressed her hope that the song's band of angels were "coming for to carry me, you, us, even Donald Trump, home."

Baez's recently-penned protest song Nasty Man (which concerns US President Donald Trump) has been viewed 3.3 million times since it was posted on the singer's Facebook page on Tuesday.

2013 Inductees Alex Lifeson and Geddy Lee of Rush and 2017 Inductee Jeff Ament of Pearl Jam  

Former Journey frontman Steve Perry reunited on stage with his Don't Stop Believin' band mates for the first time in 25 years, while Roy Wood was also inducted into the Hall of Fame, 45 years after leaving Electric Light Orchestra.

British progressive rock group Yes, and Seattle-based grunge band Pearl Jam were also among the 2017 inductees, chosen by more than 900 voters drawn from the music industry.

Eddie Vedder of Pearl Jam performs 

Producer and Chic guitarist Nile Rodgers, who was responsible for the sheen on hits like Le Freak and We Are Family, was presented with a special award for musical excellence.

Nile Rogers in the press room at the Barclays Center, New York last night 

Tributes were paid to rock n roll legend Chuck Berry, who died last month, ages 90, with ELO playing one of his best known hits - Roll Over Beethoven.

He was the first person ever to be inducted in the Rock and Roll Hall of Fame in 1986. Tributes were also paid to the memory of Prince who died of an accidental painkiller overdose in April of last year.

Inductees Stone Gossard of Pearl Jam and Neal Schon of Journey