On Saturday, HBO aired Beyoncé and Jay Z’s “On the Run Tour” special. The concerts took place on September 12 and 13 at Paris’ Stade de France, where the superstar couple performed to a sold-out crowd of 160,000.

Jonas Ã…kerlund (“Haunted,” “Superpower”) directed the nearly three-hour spectacular, which featured music’s king and queen at their finest plus an appearance from Nicki Minaj, who performed “Flawless (Remix)” with Bey.

They capped off the show with a medley of “Young Forever” and “Halo.” As they watched from a platform in the center of the stadium, the video screens showed home movies of the couple from their wedding, family vacations, and adorable footage of daughter Blue Ivy (check out Jay and Blue doing push-ups together at the 5:40 mark).

“We did it!” said Jay as Bey clicked her heels.

Get an intimate look into the world of Mr. and Mrs. Carter.