After opening his concert Tuesday night at St. Paul’s Xcel Energy Center, Rock and Roll Hall of Famer James Taylor told the crowd of about 12,000: “Minneapolis. It’s great to be back.”

But a few songs later, the 77-year-old corrected himself and then told a great story about Minnesota guitar maker Jim Olson. Back in 1989, Olson heard Taylor was going to be in town to play a benefit show and managed to get one of his guitars into Taylor’s hands. “I haven’t put it down since,” Taylor told the crowd, looking down at his six string. (Olson, he added, was in the audience Tuesday.)

That’s the kind of night it was at the X. With the mild manner of a retired Presbyterian minister, Taylor played a two-hour set of some of the gentlest popular music of his generation. His voice has retained much of its warmth, in part because he’s never been about power, but rather intimacy.

As such, Taylor gave the show the feel of an intimate club gig on a breezy summer evening. The crowd certainly helped matters by sitting in quiet rapture, applauding and cheering only at appropriate times. Yeah, the occasional fan would yell “We love you James” or “You’re kicking ass, JT” between songs, but even Taylor didn’t seem to mind.

For the first part of the show, Taylor played a series of songs about traveling, including “Wandering,” “Walking Man,” “Stretch of the Highway,” “Mexico” and “My Traveling Star.” Between numbers, he chatted with the crowd, offering plenty of dad jokes along the way. He also poked fun at his age, showing the crowd the comically oversized set list he was reading from and offering to take out his teeth after he took off his jacket.

Taylor also took time throughout the show to introduce the members of his All-Star Band, a group of seasoned musicians that aren’t household names, but have played with plenty of them over the decades. Among them was bassist and Minneapolis native Jimmy Johnson and Taylor’s son Henry, who has been singing backup in the band since 2021.

Kate Markowitz, Dorian Holley and Andrea Zonn joined Henry and provided some gorgeous harmonies for the main attraction. The rest of the band, too, gave Taylor plenty to work with and even occasionally rocked out — well, as much as Taylor rocks out — on songs like “(I’ve Got to) Stop Thinkin’ ‘Bout That” and “Up on the Roof” (a song Taylor’s pal Carole King co-wrote for the Drifters). After the latter, Taylor told the crowd “No Kings, except Carole” and earned some of the biggest cheers of the evening in the process.