Dave Matthews Band returned to the stage for the first time this year for three shows this weekend. The performances took place at Atlantic City, NJ’s Bader Field as part of one of four Dave Matthews Band Caravan events that will mark the band’s 20th anniversary. The three-day event also boasted sets by DMB family groups Dave Matthews & Tim Reynolds, Jeff Coffin’s Mu’tet and TR3, as well as Warren Haynes Band, Michael Franti & Spearhead, Alberta Cross, Damian Marley, Grace Potter, Dawes, Guster, From Good Homes, Ray LaMontagne, the Head & the Heart and The Flaming Lips, among many others.

Each of Dave Matthews Band’s shows featured some unique moments. During Friday night’s performance, the band debuted covers of Morphine’s “Buena” and Led Zeppelin’s “Good Times Band Times” and revived the original songs “Captain” and “Shotgun” for the first time since July 27, 2004 and August, 15, 2009, respectively. Matthews also performed a solo take on Procul Harum’s “A Whiter Shade of Pale,” a song he first covered during a Blue Man Group show earlier this year.

Saturday’s show also included some rarer songs and special guests. African singer Vusi Mahlasela sang his studio parts on “Everyday” while Warren Haynes – who was at the Caravan with his new solo band – took the stage for “#41.” Later in the show. Ben Harper & the Innocent Criminals percussionist Leon Mobley – who was at the show as part of Damian Marley’s band – emerged for a set-closing “Two Step.” The group also busted out “Break Free” for the first time since September 13, 2006 and “Can’t Stop” since July 5, 2006. Finally, last night the group debuted a cover of Aerosmith’s “Sweet Emotion” and played the extremely rare “Kill the King” for the first time since July 1, 2006.

Dave Matthews Band’s next performance will take place in Chicago on July 8.