Smith, 54, left his trailer as Mike from Bad Boys, while Lawrence, 57, arrived in a maroon track suit and sneakers.
Franchise alum The Daily Mail's photographs show producer Jerry Bruckheimer and actor John Salley, who appeared in the first two Bad Boys films but not 2020's Bad Boys For Life, on site Wednesday.
Smith recorded himself driving to Lawrence's house, assuring viewers he would give a "hint" before playing "Shake Ya Tailfeather" by Nelly, Diddy, and Murphy Lee from Bad Boys II.
At the Grammy Awards in February, Questlove informed Variety that Smith was intended to perform in the 50th anniversary of hip-hop homage, but Bad Boys 4 production prevented him from doing so.
"For us to come together and prove that we can deliver, and we can pull people into the box office—that two Black stars, two sitcom stars, could make money at the box office [was huge]," Lawrence said of 1995's original Bad Boys.