The New Edition singer made a surprise appearance at the Hollywood Bowl in Los Angeles performing the song Real Love alongside singer Macy Gray.
TMZ captured a video of the performance which features a well dressed Brown addressing the audience by saying "Thank you for all your prayers everybody."
Bobbi Kristina passed away back in July, six months after she was discovered in her bathtub at the home she shared with boyfriend, Nick Gordon.
The late star's conservator initially filed a domestic violence complaint against Gorgon in June, and added a wrongful death complaint in August.
Brown had banned Gordon from attending his daughter's funeral service and burial amid speculation over Gordon's possible role in Bobbi Kristina's death. Gordon has since visited her grave in Westfield, N.J.