Judy Garland's daughters took to the stage together for the first time in 20 years to raise funds for research into breast cancer, which Luft is currently battling.
Minnelli had been practising for the gig at New York's Birdland jazz club at her home on Sunday (13Oct13) when she fell and broke her wrist in three places.
However, she ignored doctors' advice and refused to cancel the show.
She told the crowd, "Nothing was going to stop me from coming here tonight. Lorna asked me to be here and I wouldn't let her down."
The Cabaret star then headed straight back to hospital to receive further treatment.
Speaking about her own condition from the stage, Luft said, "This event means the world to me. I'm so grateful to be feeling so well and performing again."
The concert, the first of two, will benefit The Actors Fund's Phyllis Newman Women's Health Initiative and Tower Cancer Research Foundation's Dr. Philomena MCAndrew Fund. A second show will take place in the Big Apple next Monday (21Oct13).