In honor of the now-classic tune's 20th anniversary, Elliott took to Instagram to show the late singer some love and reflect on their relationship.
"Time flies!" Elliott began her heartwarming post. "There's still not a day that goes by that you aren't inspiring new artists with your timeless music and style."
The single was released back on December 10, 1996, going on to hit the number one slot on the R&B Airplay chart and remain at the top for six weeks. The song also doubles as the title track off of Aaliyah's second studio album, which later was certified 2x Platinum.
Take a look at Missy Elliott's commemorative post paying homage to her late friend and muse below.
(Photo: Chris Walter/WireImage)