This is a pretty, little stripped-down rendition of an old classic written by Smokey. Here's a neat little bit of background:
The impromptu performance occurred during a tribute to Aretha Franklin, who was promoting her new album entitled La Diva. Soul Train paid tribute to Robinson earlier on that day’s taping. So since he was still at the studio while Franklin was taping her segments, he agreed to do a duet with her of “Ooo Baby Baby,” a huge hit he had with his group The Miracles in 1965
Don Cornelius adds a good and awkward interview to the beginning of this clip as well if you want to skip head a couple minutes.