Watch Tom Waits perform "Chicago" on Letterman

Tom Waits appeared on Monday evening's edition of Late Night With David Letterman, where he performed "Chicago", from his most recent album, 2011's Bad As Me, live for the first time.

Musicians joining Waits on stage included his son Casey Waits on drums, long time bassist Larry Taylor, guitarist David Hidalgo, keyboardist Augie Myers and guitarist Big Bill Morganfield.

You can watch Waits' performance on the CBS show below.

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