Bruce Springsteen Performs After Cousin's Death

10/30/2009 at 07:40 AM EDT

Bruce Springsteen Performs After Cousin's Death
Bruce Springsteen
Greg Allen/REX USA
Three days after the sudden death of his cousin Lenny Sullivan, Bruce Springsteen showed a brave face and hit the stage in New York City.

"He's doing fine," said former Rage Against the Machine guitarist Tom Morello, who joined Springsteen and the E Street Band Thursday night for the Rock & Roll Hall of Fame Concert celebration at Madison Square Garden.

"I expressed my condolences. I know that he cancelled a show the other night, but tonight's show is very much a celebration of music and life," says Morello.

Sullivan, an assistant road manager for Springsteen's band for the past 10 years, was found dead Monday night at a Kansas City hotel. Police at the time said they did not consider the death suspicious. A message on Springsteen's Web site described Sullivan as "a warm and sensitive person [who] was beloved by Bruce, the Band, the crew, and the entire Thrill Hill family."

Yet the Boss kept to his Rock & Roll Hall of Fame commitment, performing a nearly two-hour set. He flashed smiles and shared moments of laughter as he sang "Pretty Woman" with John Fogerty and other tunes with Billy Joel, including "New York State of Mind."

"It's been an incredible night," said Springsteen.

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