Pink celebrates with daughter after first concert in four years

July 3 (UPI) -- Pink was feeling "grateful" as she celebrated her first concert in four years with her daughter on Sunday.

The 37-year-old singer shared a moment with 6-year-old daughter Willow after returning to the stage at Summerfest music festival in Milwaukee, Wisc.

"THANKYOU kind folks of Summerfest. Milwaukee. What a cool place. Thanks to all who came from far and wide. I'm so glad that first show is over. Haha," Pink captioned a photo on Instagram of herself with Willow.

"After four years, it's always a little nerve wracking to start it up again," she confessed. "But I got one look at your faces and my heart filled with love. This is us celebrating the fact that I only rolled my ankle once and only forgot the words to four songs #grateful."

Pink performed several songs, including "So What," "Try" and "Sober," as well as a cover of the Bishop Briggs hit "River." She responded to Briggs on Twitter after the singer thanked her for covering the track.

"Mine and my daughters favorite song in our whole set. You are a force and I love to hear your power. Thank you," Pink wrote.

Pink shares Willow and 7-month-old son Jameson with husband Carey Hart, and shared a new photo of her son on Instagram in June. She and Willow got stuck in an elevator prior to her concert Sunday.

"Stuck in an elevator (it's getting hot in here) (love in an elevator) (livin in a box) #help," the star captioned a photo from the elevator security camera.

Pink and musician Dallas Green last released the album rose ave. as the folk music duo, You+Me, in 2014. The record debuted at No. 4 on the Billboard 200.