The "Times Like These" hitmakers played the legendary venue for what marked the first full-capacity show in New York City since the beginning of the coronavirus pandemic.
And Dave Grohl and co had a special treat in store for fans. The two Daves were on top form, with the frontman on guitar and the 47-year-old stand-up on lead vocals.
Chappelle has previously duetted with Ed Sheeran on the '90s classic.
Attendees at the concert were required to be fully vaccinated against Covid-19, with the last dose received at least 14 days before the show.
Children under 16 were permitted to present a negative coronavirus test instead.
And the rock legends couldn't be happier to get back on stage.
Grohl said prior to the gig, "We've been waiting for this day for over a year. And Madison Square Garden is going to feel that HARD. New York, get ready for a long ass night of screaming our heads off together to 26 years of Foos."
The "Best of You" group last headlined the venue in 2018 for two nights on their Concrete and Gold tour, and have also previously played there in both 2008 and 2011.
Basketball fans have been able to attend New York Knicks games at MSG throughout the season, with separate sections for vaccinated and unvaccinated fans, but a full capacity gig hadn't been staged there since March 2020.