Paula Abdul knows that performing her hit music is what she was "born to do".

The 54-year-old pop veteran took to the stage at the Mixtape Festival in Hershey, Pennsylvania, on Saturday night (06Aug16) to belt out some of her most famous tracks to an audience of delighted fans.

The concert marked her first full headlining set in over two decades, and speaking after the event Paula admitted she enjoyed every second.

"It's been 26 years," she told Entertainment Tonight. "Let me tell you something, it's different today than 25 or so years ago, but it's evolution ... It's what I was born to do."

Paula has only performed short one-off sets for fans in recent years, including a rendition of I'm Just Here for the Music on American Idol in 2009, and a medley of her hits for Dancing With the Stars in 2012.

But Saturday saw her leave the crowd wanting more - a reaction Paula was more than pleased with.

"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?

"I wanted to leave my fans with a good feeling and to remember that I really am always forever their girl."

Following the performance, Paula took to her Twitter to reminisce, writing on Sunday (07Aug16): "I've had THE best #SundayMorning. You're in my heart. (Love)ED PERFORMING at @MixtapeFestival LAST NIGHT! Thank u ALL!"

Paula wasn't the only blast from the past to perform at the Mixtape Festival - pop veterans New Kids on the Block, Boyz II Men, 98 Degrees and O-Town also took to the stage during the event.