Gloria Estefan Performs With Company of ‘On Your Feet!,’ Gets Lin-Manuel Salsa Dancing in the Audience

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True to its name, Broadway musical On Your Feet had everyone at the Beacon Theater up and dancing Sunday night. Despite not being nominated for any of the major categories at this year’s Tony Awards, the Gloria Estefan musical had a chance to show viewers of the CBS telecast what’s kept audiences coming to the Marquis Theater week in and week out. Emilio Estefan introduced the performance, with a tongue-in-cheek assurance to audiences at home that the entire Latino cast of the musical had their papers in check.

Ana Villafañe (who plays Gloria), Josh Segarra (who plays Emilio) and the entire ensemble of the show celebrated the Estefan jukebox musical with a high-energy medley that played like a Gloria Greatest Hits, joined by the queen herself.

The real winners here were those two dancing kids though – they even had Lin-Manuel Miranda dancing in the aisle: