A post shared by arnel c. pineda (@arnelpineda2007) on Apr 7, 2017 at 5:25pm PDT

For nearly four decades, Arnel Pineda has always wanted to meet Journey's original frontman Steve Perry. On Friday, the Filipino singer finally got his wish — and then some.

The touching moment happened after Journey was inducted into the Rock & Roll Hall of Fame in a ceremony held in Brooklyn, New York.

"One of the sweetest hug you can ever get from one of my heroes and silent mentors," said Pineda as he shared on Instagram a photo of him embracing the music legend. "It means the world to me. Waited 35 years for this moment. Thank you Almighty God!"

Pineda also expressed his gratitude to Perry, who had nothing but warm words for him for keeping Journey's music alive.

In his acceptance speech, Perry said: "I must give a complete shoutout to someone who sings his heart out every night, and it's Arnel Pineda. Where are you, Arnel? Arnel, I love you."

Pineda has been Journey's vocalist since 2007. He was onboard for the band's performance during the induction ceremony and belted out "Separate Ways" and "Don't Stop Believing."

Pineda was not included among the members inducted into the Hall of Fame. Back in November, keyboardist and guitarist Jonathan Cain told Billboard that he does not think it is fair that Pineda was snubbed.

"There is no Journey without Arnel right now. He certainly has earned his stripes. He's been with us longer than any lead singer has consecutively stayed in the band. He's given us 10 years straight, not running off or doing this, doing that, just being The Guy. So that's worth something," he said.