The 47-year-old "Pretty Woman" star surprised the singer's fans when she danced around the stage with Joan Baez in Santa Clara, California, reported Entertainment Weekly.
When asked if it was planned, Roberts said, "No! Oh my God, I would have washed my hair if it had been planned. I was wearing a ponytail, leggings, and tennis shoes."
The actress said she had taken her three children to see the show and met the "Wildest Dreams" hitmaker backstage, who invited Roberts to join her on stage.
Roberts said she remembers asking her children what they thought of the proposition.
"'Oh, Mom you have to do it! My youngest son said, 'Only do it if you want to, Mommy.' It was so sweet...
"It was one of those crazy, out-of-body moments. I can't tell you anything that happened from the moment I came on stage. I was so nervous," she said.
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