Prince took the stage in Baltimore before thousands of fans who were dressed in gray in tribute to a man whose death in police custody prompted riots and drew international attention.
The pop star announced Sunday's "Rally 4 Peace" concert at the Royal Farms Arena Baltimore after weeks of protests over the death of Freddie Gray. During the show, Prince debuted a song he wrote for the city in the wake Gray's death.
"For those who have lost loved ones, we're here for you tonight," Prince told the crowd before launching a set that included his most famous hits.
Prince also called on the city's youth to fix a "broken system."
At one point, Prince invited onstage Baltimore State's Attorney Marilyn Mosby, who has charged six officers in Gray's death.
The concert was available on the streaming service Tidal.
Prince recently embarked on a "Hit & Run USA" tour along with his band 3rdEyeGirl in which he announces surprise concerts just days before he performs.