Soul and hip-hop icons Mary J. Blige and Nas will take the Fiserv Forum stage this summer, bringing their joint "The Royalty Tour" to the arena on Tuesday, July 30.

Since moving up from a backing singer to a solo artist in the early '90s, Blige has become one of the most respected musicians in R&B, soul and hip-hop, winning nine Grammys and eight multi-platinum albums while selling more than 50 million albums. She's also conquered screens big and small, earning an Oscar nomination for Best Supporting Actress in 2018 for Netflix's "Mudbound" (plus a nomination for Best Original Song for the same movie) and appearing on the streaming service's hit superhero show "The Umbrella Academy."

Her last album, "Strength of a Woman," arrived in 2017, but she reportedly has a new record, "My Life II... There's Something About Me, My Self & MaryJane (Act 2)," in the works for some time in 2019.

Joining Blige on her Milwaukee stop is Nas, a fellow hip-hop legend that came up in the '90s, scoring one of the genre's all-time albums with his debut, "Illmatic," in 1994. The MC has continued to put in strong work over the years, releasing 11 albums – most recently "Nasir" in 2018 – and scoring 13 Grammy nominations.

Much like Blige, Nas also made an impact in the acting world, starring in the cult gangster film "Belly" and serving as the narrator for the Netflix original TV show "The Get Down."

Tickets for their joint show will go on sale at Fiserv Forum's website beginning at 10 a.m. on Friday, May 3.