The rock icon made an emotional comeback on Tuesday night, kicking off his Forever Tour with a sold-out show at New York's Madison Square Garden—his first full concert since undergoing vocal cord surgery.

Bon Jovi wasted no time acknowledging the moment. As The Beatles' "With a Little Help from My Friends" played, he playfully sang, "What would you do if I sang out of tune...?" drawing laughter and applause from the audience.

The lighthearted moment soon turned heartfelt.

"I haven't heard the roar of a crowd in four years, and I didn't know if I would remember what that felt like," Bon Jovi told fans. Reflecting on his journey, he said he was "grateful and humbled by this whole ordeal."

He also thanked the nearly 20,000 fans who packed the arena, calling them "personal, private guests" who came to show their love and support.

Backed by longtime bandmates Tico Torres, David Bryan, Hugh McDonald, John Shanks, Phil X, and Everett Bradley, the singer delivered a high-energy set that stretched beyond two hours. The performance featured fan favorites including "Livin' on a Prayer," "It's My Life," "Wanted Dead or Alive," and "Keep the Faith."

The milestone performance came after years of recovery following the discovery that one of his vocal cords was deteriorating.

"One of the cords was literally atrophying," Bon Jovi previously revealed, describing the diagnosis as both unexpected and confusing. Following surgery and months of intensive vocal rehabilitation, he says he has fully regained his voice.

The singer also credited his bandmates for standing by him throughout the challenging period.

"They said, 'No, we're with you,'" he recalled. "My love for them has only deepened."

If the roaring ovation at Madison Square Garden was any indication, Bon Jovi's fans never lost faith in his return.