Glover performed two jazz standards with the Tom Reyes Trio Friday night, but couldn't make it through a third number.
She seemed disoriented and turned her back to the audience, friend Megan Hamilton told the Sun.
Glover then collapsed and was caught by two fans.
Surrounded by family and friends who prayed and sang "This Little Light of Mine," Glover died the next afternoon at Johns Hopkins Bayview Medical Center.
After consulting with her doctor, Glover's family had decided to take her off of life support.
"We're so blessed," Glover's youngest son, Aaron Perkins, said Sunday. "She was a wonderful mother who had a wonderful career and a wonderful spirit."
In addition to performing, Glover also taught a jazz appreciation course at Sojourner-Douglass College and led tours along Pennsylvania Avenue, the fabled stretch of clubs and bars where she sang in the company of Billie Holiday, Miles Davis and John Coltrane, the Sun said.
Glover is survived by Aaron Perkins, Dana Perkins, Ira Glover, Toni Glover and Carla Logan.