During the late 1990s and early 2000s, Livgren would occasionally attend Kansas shows and come on stage to play one or more songs with the band. At a March 9, 2002 concert at Lake Tahoe, he played the whole show, subbing for Rich Williams who was "under the weather", and another live album and DVD from Kansas, entitled "Device - Voice - Drum", which was recorded in the band's present home of Atlanta on June 15, 2002, was released that October.