ARW, the new band featuring Jon Anderson, Trevor Rabin and Rick Wakeman, kicked off their first tour last night in Orlando, offering a mix of classic and more contemporary Yes songs. Check out "I've Seen All Good People" above and "Awaken" from the show below.

Anderson co-founded Yes in 1968, while Rabin was a member from 1982–94. Wakeman had five stints in the group, beginning in 1971 and the most recent ending, just as Anderson's did, in 2004.

Last night's show touched on each of those eras. "I've Seen All Good People," for instance, dates back to 1971's The Yes Album, while "Awaken" comes from 1977's Going for the One." Rabin spearheaded Yes' multi-platinum 1983 album 90125, so the Orlando set also made room for stand-out cuts from that project, including "Hold On" and "Owner of a Lonely Heart."

The guitarist noted some first-night mishaps, but seemed pleased with a return to the stage after years of soundtrack work. "What an incredible crowd. The guys performed so well," Rabin wrote on his personal Facebook. "I had a couple of tech problems. But after almost two decades of not being onstage, I guess I was okay at times. I certainly loved doing it."

Other notable moments from ARW's Orlando stop included a segment of music from Tales of Topographic Oceans, which Yes featured on their most recent tour; "The Fish (Schindleria Praematurus)," a tribute to Yes' late co-founder Chris Squire; and 1987's "Rhythm of Love," the most recent Top 40 Yes single. They also performed "The Meeting," which was originally from another Yes spin-off band, Anderson, Bruford, Wakeman and Howe. You can see the complete set list below.

ARW are rounded out by bassist Lee Pomeroy and drummer Louis Molino III. Their U.S. tour continues through Dec. 3, when they wrap up in Indio, Calif.

Watch ARW Perform 'Awaken' in Orlando

ARW Set List, Oct. 4, 2016, Orlando
"Perpetual Change"
"Hold On"
"I’ve Seen All Good People"
"And You and I"
"Rhythm of Love"
"Leaves Of Green"
"Long Distance Runaround"
"The Fish"
"The Meeting"
"Heart Of The Sunrise"
"Make It Easy"
"Owner Of A Lonely Heart"
"Starship Trooper"

Top 100 Albums of the '70s

More From Ultimate Classic Rock