Michael Jackson’s three kids have joined thousands of his fans for a memorial concert at Cardiff’s Millennium Stadium.

Prince Michael, 14, Paris, 13, and 9 year-old Michael Joseph Jr., known as Blanket, watched acts including Christina Aguilera, Smokey Robinson, Leona Lewis and boy band JLS.

The three kids took to the stage dressed in outfits reflecting Michael Jackson‘s career and were greeted by rapturous applause.

The Michael Forever gig honored the star who died in 2009, aged 50.

Prince Michael, Blanket and Paris took to the stage dressed in outfits reflecting Michael Jackson's career at the Michael Forever Tribute Concert at the Millennium Stadium in Cardiff

Michael Jackson’s three children introduced Beyonce’s performance, with his youngest looking stunned by the noise and lights, but the elder two seeming at ease on stage.

Paris told the audience: “We’re very happy to be here on this special night to honor our father.”

Beyonce, who wore her hair in a Jackson Five-style afro, played one of the group’s hits, Where You Are, saying it was the first song she had performed with her former group Destiny’s Child.

Michael Jackson‘s brothers, Tito, Marlon and Jackie, performed at the event, which was hosted by actor Jamie Foxx and presenter Fearne Cotton.

Michael Jackson’s sister, La Toya, came out after almost 20 years of retirement to perform.

“I have put musical performance behind me for roughly two decades,” La Toya said.

“But there will never be another magical moment such as this to celebrate Michael with his fans to perpetuate the importance of his legacy.

“I am honored to share the stage with the incredible performers in this line-up, and I’m certain nothing would make my brother smile bigger or brighter than this tribute concert.”

Michael Jackson's sister, La Toya, came out after almost 20 years of retirement to perform

However, not all the Jackson family members were behind the concert.

Two other Michael Jackson’ siblings, Jermaine and Randy Jackson, said the concert was “inappropriate” and “ill-timed” because it was held during the criminal trial of Conrad Murray, the doctor charged with involuntary manslaughter over the star’s death in June 2009.

Michael Jackson’s sister Janet Jackson also decided not to attend.

Marlon Jackson said he respected their decision and added:

“Each one of us grieves differently. We want to celebrate the positive side of his life, the positive things that he did.”

R&B star Ne-Yo, who gave a rendition of Billie Jean, said:

“It’s not about the controversy. It’s not about the trial. It’s not about his death. It’s about celebrating his life. It’s about celebrating his music.”

Paul King, one of the organizers, said there had been a slow start to ticket sales, but added:

“All of a sudden this week it exploded and we were selling 1,000 tickets an hour yesterday.”

The show was expected to have sold out.

Chart-toppers Black Eyed Peas withdrew from the line-up of the Michael Forever concert last week.

Paul King said that losing Black Eyed Peas from the bill had allowed the show to be “tightened up”, and extra songs allocated to some of the “major artists” involved.