Janet Jackson brings high energy and endless hits to Lake Tahoe

STATELINE, Nev. - Fans of pop star Janet Jackson have been waiting a long time to see her on tour, and after Friday night's concert at the Lake Tahoe Outdoor Arena at Harveys they can say it was worth the wait.

Jackson had to put a halt to her 2015 tour and have surgery, then her tour ended again in 2016 after she announced her pregnancy. Now she has hit the road with her long-awaited State of the World Tour.

She made a statement even before setting foot on the stage with an impactful film clip focusing on a variety of social injustices including homelessness, police brutality, drugs, crime, poverty and racial equality.

The tour is based on her 1989 song, State of the World:

Drugs and crime spreadin' on the streets
People can't find enough to eat
Now our kids can't go out and play
That's the state of the world today

The statement continued as she sang 1997's "What About" as her dancers gave an intense interpretive performance depicting drug and domestic abuse.

For over 90 minutes the 51-year-old Jackson danced and sang, defying her age and looking much as she did three decades ago. She and Her troupe of dancers entertained the group with their synchronized dancing and popping.

"Control," "Together Again," "Nasty," "Rythmn Nation" and the rest of her playlist kept everyone on their feet, dancing and singing along.

She also sang in front of a backdrop showing movies of her recently deceased father Joe as well as her brother Michael and other family memories.

Jackson fans hope it won't be as long until her next tour.

Rhythm Nation lyrics:

With music by our side
To break the color lines
Let's work together
To improve our way of life
Join voices in protest
To social injustice
A generation full of courage
Come forth with me
People of the world today
Are we looking for a better way of life
We are a part of the rhythm nation
People of the world unite
Strength in numbers we can get it right
One time
We are a part of the rhythm nation
This is the test
No struggle no progress
Lend a hand to help
Your brother do his best
Things are getting worse
We have to make them better
It's time to give a damn
Let's work together come on, yeah
People of the world today
Are we looking for a better way of life
We are…

All photos in this story by Paula Peterson.