"To be human is to be many things at once, strong and vulnerable, courageous and afraid", he said.
He will on Friday become only the sixth rap act to be inducted into the Rock and Roll Hall of Fame.
"I'm here to make sure Tupac is remembered the way he ought to be: A strong black man who stood for his". "We were both born in 1971".
You've said that Tupac is the greatest rapper of all time.
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During his moving speech, Snoop, 45, reflected on several of his most memorable moments with Shakur before he was killed in a 1996 drive-by shooting at the age of 25.
Other artists inducted into the Rock and Roll Hall of Fame tonight at the Barclay's Center in Brooklyn included Pearl Jam, Joan Baez, Journey, Yes, ELO and Nile Rodgers of Chic, who was inducted by Pharrell. "To be human is to be many things at once", Snoop said. "Revolutionary and - oh, yeah I'm getting fucked up".
He recalled meeting 2Pac in 1993 at a party promoting the Tupac film, Poetic Justice.
Hip hop artist Ice Cube - who was inducted into the Hall of Fame past year along with the five other members of NWA - said he thought Shakur would have "shown up" to receive the honour. I passed cuz my joint. "Snoop Dogg and Tupac parasailed with Suge Knight driving the boat!" he marveled. I was a zig-zag man before that shit.
R&B songstress Alicia Keys kicked off the musical portion of the tribute performing a medley of Tupac's hits from "Ambitionz az a Rida" to "I Ain't Mad at Cha" and "Dear Mama" on a piano. "Let us build a great bridge, a lovely bridge, to welcome the exhausted and the poor", Baez told the Hall of Fame audience.