Playing to a crowd of about 20,000 at O2 Arena, the Stones -- none younger than 65 -- rolled out a long line of their hits from the past five decades, including "It's Only Rock and Roll," "Honky Tonk Women," "Gimme Shelter," "Get Off of My Cloud," "It's All Over Now" and "Paint It Black," "Jumping Jack Flash" and "All Down the Line" .
Richards got in a self-aimed, age-related zinger: "It's good to see you all. It's good to see anybody."
The special night included the return of former Stones Bill Wyman, who left the band in 1992, and Mick Taylor, who dropped out in 1974.
Jagger noted it's been quite a year for British celebrations.
"There was the Queen's Diamond Jubilee. We didn't do that. The Olympics. We didn't do that. James Bond's 50th anniversary. And we didn't do the song for that either! But I'm so glad that we're here and that you're here," he said.
One hit missing by the end of their 2 1/2-hour, 23-song set, was "Satisfaction."