02/12/2012 at 06:55 PM EST
performed live for the last time on Thursday night in Los Angeles.
The late pop star took the stage with R&B and gospel singer Kelly Price during her "For The Love Of R&B Grammy Party" at L.A.'s Tru Nightclub to perform "Jesus Loves Me." The moment was filmed by an audience member who then shared the recording with CBS News
Houston arrived at the party
two hours after it began along with daughter Bobbi Kristina
, 18. Later, Houston took a seat in the VIP section and was also spotted dancing to various songs all night.
An emotional Price recalled the performance at Sunday's pre-Grammys red carpet.
"I wasn't expecting her to sing," the nominee told E! News's Ryan Seacrest
of Houston's performance. "I wasn't asking her to do that."
The two were celebrating and dancing when Houston walked up on to the stage, she said.
"Singing with Whitney has always been, to me, just an honor," Price, who learned of her death when her manager pulled her aside at a Grammy gift suite, said. "She would want [tonight] to be celebratory and about the music she loved."
On Saturday, Houston was found dead at age 48
at the Beverly Hilton Hotel, where she was staying. According to police, there was no evidence of foul play.