(Cover) - EN Showbiz - Kevin Richardson decided to re-join Backstreet Boys because his heart told him the time was right.

In 2006, Kevin left the group, also comprising A.J. McLean, Howie Dorough, Nick Carter and Brian Littrell.

In April this year, it was confirmed he had returned and the five-piece began working on a new album in July.

All five band members took to the stage as part of Good Morning America's Summer Concert series in New York's Central Park today and were thrilled to be together.

"I'm a person that follows my heart and gut, and my heart said this is the time," he explained. "When I left it had nothing to do with these guys here."

The group wowed the crowd of screaming fans with their renditions of Incomplete, I Want It That Way and Everybody (Backstreet's Back).

They also gave a brief interview, in which A. J. confirmed they are planning to go on tour next year.

"2013 is going to be a big year for us, it's our 20th anniversary," Kevin added. "We're in the studio right now working on an album so we're going to have that ready hopefully by next year." (C) Cover Media