Ruben Studdard and Clay Aiken reunited on the Season 21 finale of “American Idol,” celebrating the 20th anniversary of their own finale episode in 2003.

Studdard and Aiken, friendly rivals in Season 2, are two decades older and wiser now, so it’s probably fitting that the song they performed on Sunday’s program, “The Impossible Dream,” is an old-school inspirational anthem. It comes from “Man of La Mancha,” the 1965 Broadway musical, and although sung by many over the years, the soaring ballad was closely linked to Robert Goulet, who made it a signature song.

Watch Studdard, a Birmingham resident, and Aiken perform “The Impossible Dream” on “Idol” in the video below.

The two “American Idol” veterans earned a standing ovation on Sunday on the ABC reality series, performing on a stage bedecked with lights that evoked a starry sky. This year’s “American Idol” finalists, Iam Tongi and Megan Danielle, came out to finish the song with Studdard and Aiken, and sprays of fireworks capped the performance. All three judges on the series — Katy Perry, Luke Bryan and Alabama native Lionel Richie — gave Studdard and Aiken a standing ovation, and Perry seemed moved by the rendition.

Studdard was named the Season 2 “American Idol” winner on May 21, 2003, and Aiken earned runner-up status. This year’s finale — with Tongi as the winner and Danielle as the runner-up — was broadcast 20 years to the day after Studdard took the crown amid a shower of confetti.

Studdard and Aiken became inextricably linked in the public’s consciousness in 2003, when they took first and second place on “American Idol” during one of the reality show’s most popular seasons. Studdard, an R&B crooner from Alabama, and Aiken, a pop singer from North Carolina, vied for the “Idol” title with good humor and easy camaraderie, drawing fans to the series in droves.

READ MORE: Ruben Studdard’s ‘American Idol’ win 20 years later: 10 unforgettable moments

“20 years ago today all of my dreams came true!!!” Studdard said on Sunday via social media.

In honor of the 20th anniversary, Birmingham Mayor Randall Woodfin declared May 21, 2023, as Ruben Studdard Day.

Studdard, 44, and Aiken, 44, are celebrating their “Idol” anniversary with a dual tour, as well. The tour stopped in more than 20 cities in April and May, and included a May 7 concert at the Oxford Performing Arts Center in Alabama. More dates are planned in the fall and winter, according to a website for the show, “Twenty Years, One Night.” Right now, the agenda stretches through Feb. 1, 2024.

Studdard also has a new single, “The Way I Remember It,” set for release on Friday, May 26.

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