In early 1981, Champlin collaborated with Chicago's drummer, Danny Seraphine, by singing some backgrounds with Peter Cetera on a non-Chicago project. Seraphine and Champlin co-wrote a few songs for Chicago that year, and Champlin was invited to sing one of those songs, "Sonny Think Twice", as a guest vocalist. Champlin suggested to Seraphine that David Foster might be a good choice as a producer for Chicago at that time. Seraphine began a campaign to get Champlin into the group, and he joined before the end of 1981.
The band did collaborate with Foster on their next album, 1982's platinum certified Chicago 16. Champlin was featured singing several songs, including "Bad Advice", "Follow Me", and "Sonny Think Twice", which he co-wrote and had originally guested on in 1981. Champlin also shared vocals with Cetera on "Waiting for You to Decide".