Amber, Naya and Darren at the Kids Inauguration Concert

In this order: Naya sang an acoustic version of "Valerie" with Darren, she was followed by Amber who sang "Beautiful"  and Darren ended the set singing "Not Alone" (a song he wrote himself). Amber starts at 2:59 and Darren starts at 5:51 if you want to skip around in the video.