Backstreet Boys have reunited as a five-piece for the first time since 2006. The pop group - which is made up of Nick Carter, Brian Littrell, Howie Dorough, A.J. McLean and Kevin Richardson - took to the stage for Good Morning America's Summer Concert Series in New York's Central Park earlier yesterday.

The boy band performed '90s classics "Everybody (Backstreet's Back)" and "I Want it That Way" and Kevin - who rejoined the group three months ago after quitting in 2006 - admitted he was delighted to be back performing with his fellow boy band members.

"I'm a person that follows my heart and gut, and my heart said this is the time," he told the crowd.

Following their performance of opening song "Incomplete," Good Morning America's news anchor Josh Elliot dedicated the track to absent co-host Robin Roberts after news today that his 88-year-old mother has passed away.

Nick also faced tragedy earlier this year when his lost his sister Leslie, 25, from an apparent overdose, while A.J. checked into rehab in July 2011 for "personal reasons."

Backstreet Boys - who have sold 130 million albums worldwide - are currently working on a new album to be released next spring, which will coincide with the group's 20th anniversary.