Background: Robert Sylvester Kelly was born on January 8, 1967 at Chicago Lying-in Hospital in Hyde Park, Chicago. Kelly is the third of four children. Kelly's single mother, Joanne, was a singer. She raised her children Baptist.
Context: In 2004, Kelly released the ambitious two-disc set Happy People/U Saved Me, with the first disc including feel-good, stepping-inspired tracks, while focusing on gospel and inspirational material on the second disc. That same year, Kelly performed The Star-Spangled Banner during the introduction of the world championship boxing fight between Bernard Hopkins and Jermain Taylor. His performance, which included a line of dancers doing the "stepping" routine and a prerecorded instrumental track set to the sound of "Happy People" was met with a mixed reaction. In October 2004, Kelly reunited with Jay-Z to do a follow-up to their Best of Both Worlds album shortly after announcing a tour to coincide with the project after the duo performed at Madison Square Garden a year before. The duo's Unfinished Business album was released and peaked at number one on the Billboard chart.  The Unfinished Business tour was plagued by a rivalry between the two stars and Kelly reportedly showing up late or not at all to gigs. The singer, according to Jay-Z, often complained that the touring lights were not directed towards him and often left during the middle of sets. Another night during the concert, Kelly stayed on his tour bus for two hours before finally coming out to perform an uninspired set. Jay-Z eventually removed R. Kelly halfway through the tour, after a member of Jay-Z's entourage attacked R. Kelly with Mace or pepper spray. On April 25, 2006, it was confirmed that Jay-Z's younger cousin, Tyran (Ty-Ty) Smith confessed in a Manhattan Criminal Court to pepper-spraying R. Kelly and four of his bodyguards at Madison Square Garden in October 2004. Smith had been charged with assault, but was allowed to plead guilty to disorderly conduct for four days of community service. After the original incident, Jay-Z made Smith an executive of Def Jam Records. Kelly also launched a $75 million lawsuit against Jay-Z for removing him from the tour, which received a countersuit by Jay-Z which was thrown out by the judge.  In 2005, Kelly released his seventh studio LP, TP.3 Reloaded. The album included chapters of "Trapped in the Closet".
Question: Did he tour to promote it?

Answer:
Kelly reunited with Jay-Z to do a follow-up to their Best of Both Worlds album shortly after announcing a tour to coincide with the project