Bettye LaVette, The Waterboys and comedienne Maya Rudolph's Prince covers band, Princess, also took to the stage as part of the all-star line-up at the Carnegie Hall show, which benefited a number of music-based organisations.
During the evening, Rudolph, who is reportedly pregnant with her fourth child, showed off her moves as she belted out Darling Nikki, Booker T. Jones was joined by Diane Birch and members of a local choir for Raspberry Beret and LaVette rocked out to Kiss.
Soul star Bilal thrilled the crowd with a lively rendition of Sister, comedienne Sandra Bernhard sang Little Red Corvette and singer-songwriter Kat Edmonson captivated the audience with The Beautiful Ones, performing with only a pianist onstage.
Comedian Chris Rock thanked the crowd for coming to the concert and impersonated Prince by reciting the lyrics to If I Was Your Girlfriend, while funnyman Fred Armisen also took to the stage throughout the night - even offering backing vocals to D'Angelo during It's Gonna Be a Beautiful Night.
All of the performers appeared onstage to sing Prince's hit track 1999 to close the show, which raised $100,000 (£62,500) for charity groups including the American Symphony Orchestra's Music Notes and Little Kids Rock.