Royals British Royal Family British Royal Family News King Charles and Queen Camilla Continue Coronation Celebrations with Windsor Castle Concert After being officially crowned on Saturday, King Charles and Queen Camilla saw performances by Lionel Richie, Katy Perry and more at a special concert By Stephanie Petit Stephanie Petit Stephanie Petit is a Royals Editor, Writer and Reporter at PEOPLE. People Editorial Guidelines Published on May 7, 2023 03:47PM EDT Close Queen Camilla and King Charles. Photo: YUI MOK/POOL/AFP via Getty King Charles and Queen Camilla's coronation celebrations are continuing with a special concert — live from Windsor Castle! Just one day after King Charles, 74, and Queen Camilla, 75, were officially crowned in a historic ceremony at Westminster Abbey, they stepped out with the royal family for the Coronation Concert on Sunday. Attendees at the show included Kate Middleton and Prince William with their two eldest children, Prince George, 9, and Princess Charlotte, 8. After a busy day at the crowning ceremony on Saturday, 5-year-old Prince Louis missed the concert. Andrea Bocelli Reveals King Charles and Queen Camilla's Song Request for Coronation Concert (Exclusive) Chris Jackson/Getty The concert, hosted by Paddington star Hugh Bonneville, was meant to "celebrate the Coronation of Their Majesties The King and The Queen in front of 20,000 members of the public and invited guests," not to mention those watching at home. The cameras caught King Charles and Queen Camilla smiling throughout the event, especially when Miss Piggy and Kermit made a surprise appearance saying they were looking for their seats in the royal box. Queen Camilla and King Charles. Getty The eclectic lineup was led by Lionel Richie and Katy Perry — both of whom have close connections to King Charles. Perry has served as an ambassador of The British Asian Trust, a charity co-founded by Prince Charles to tackle poverty and transform lives in South Asia, since 2020. Meanwhile, the "All Night Long" hitmaker was appointed as the First Global Ambassador and First Chairman of the Global Ambassador Group for The Prince's Trust in 2019. Charles established the charity in 1976 as the Prince of Wales to provide disadvantaged youth with the resources they need to reach their full potential. The organization states it has since worked with over one million young people — including Idris Elba as a teenage actor! The concert also featured performances by Take That, Sir Bryn Terfel, Freya Ridings and Alexis Ffrench. Nicole Scherzinger performed "Reflection" from Mulan as pianist Lang Lang played, and Olly Murs was one of the first performers to take the stage at the show. Opera star Andrea Bocelli performed "You'll Never Walk Alone" as a duet with Bryn Terfel — which Bocelli told PEOPLE was a special request from the King and Queen. "The King and the Queen Consort have demonstrated their appreciation of art and good music — which are gifts from the heavens, and that, as they lift the spirit, contribute to spreading good. This is per se already a reason for all of us to be excited," Bocelli, 64, told PEOPLE ahead of the concert. "As for my performance, they have indeed specifically requested a song that is very dear to me as well: 'You'll Never Walk Alone,' a touching, intense and evocative score, a true tribute to solidarity." EXCLUSIVE: Prince's Trust Gala Guest Has Unexpected Fan Moment with Idris Elba: 'We're Going to Get a Photo' Kate Middleton, Princess Charlotte, Prince George and Prince William. Chris Jackson/Getty But the highlight of the night may have been when everyone — including King Charles, Queen Camilla and other members of the royal family — stood up to dance to "All Night Long" performed by Richie. Perry also made a splash with her performance of "Roar," before dedicating the song "Firework" to King Charles and his charity work. Tom Cruise, Hugh Jackman, Pierce Brosnan, Dame Joan Collins and Disney's beloved Winnie the Pooh also made appearances, along with Sir Tom Jones, Bear Grylls and more in some of the day's pre-recorded sketches that revealed little-known facts about King Charles. King Charles appeared emotional when Prince William took the stage to give a speech to his "Pa." "As my grandmother said when she was crowned, 'Coronations are a declaration of our hopes for the future,' " Prince William said, quoting Queen Elizabeth's coronation speech from 1953. "And I know she's up there, fondly keeping an eye on us. She would be a proud mother." The Prince of Wales ended his speech by saying, "I commit myself to serve you all. King, country and Commonwealth," he concluded. "God save the King." RELATED VIDEO: Lionel Richie Teases Set List for King Charles' Coronation Coronation Concert: 'It's a Royal Secret' Can't get enough of PEOPLE's Royals coverage? Sign up for our free Royals newsletter to get the latest updates on Kate Middleton, Meghan Markle and more! The coronation celebrations will continue on Monday, which was declared a bank holiday in the U.K. to mark King Charles and Queen Camilla's crowning. The royal family will join citizens in the Big Help Out, a volunteering effort across the nation.