Washington ( CNN ) -- After celebrating his second inauguration with a throng estimated at about 800,000 , President Barack Obama and first lady Michelle Obama spent the evening at more intimate affairs : 30,000 guests at two inaugural balls . The Obamas first swung by the Commander in Chief 's Ball , where they danced in front of a sea of cell phone cameras to Jennifer Hudson 's performance of Al Green 's classic `` Let 's Stay Together . '' They then switched partners : the first lady danced with Marine Corps Gunnery Sgt . Timothy D. Easterling and the president danced with an Air Force Staff Sgt . Bria D. Nelson . Obama sang a bit of the same song at a campaign fundraiser in Harlem last year . The first lady wore a custom , ruby-colored gown designed by Jason Wu , who also designed her inaugural gown in 2009 , and the president wore a tuxedo and white tie . Vice President Joe Biden and his wife , Jill , also appeared at the two balls , dancing to Jamie Foxx performing Ray Charles ' `` I Ca n't Stop Loving You . '' Foxx portrayed the singer in the movie `` Ray . '' Your inauguration photos . The Bidens also switched partners with military members , the vice president dancing with Army Staff Sgt . Keesha Nicole Dentino and Mrs. Biden with Navy Petty Officer Patrick Figueroa . Obama delivered the `` thanks of the American people '' to the members of the military at the service members ' ball . `` Thank you for volunteering , thank you for stepping up , thanks for making us strong , thank you for keeping us safe , '' the commander-in-chief told the cheering revelers . He also told them that Joint Chiefs Chairman Gen. Martin Dempsey had promised to sing , `` so hold him to that . '' The Obamas also danced to `` Let 's Stay Together '' at the Inaugural Ball , also held in the convention center . Hudson was one of 21 acts that were to perform at the two balls , including Alicia Keys , Brad Paisley , Far East Movement , fun. , members of the cast of `` Glee , '' John Legend , Katy Perry , Marc Anthony , Mindless Behavior , Nick Cannon , Smokey Robinson , Soul Children of Chicago , Soundgarden , Stevie Wonder and Usher . Keys changed the lyrics of her hit `` Girl on Fire '' from `` This girl is on fire '' to `` Obama 's on fire . '' Organizers converted the convention center 's massive , bare-bones exhibit hall into a slightly less bare-bones ballroom . No chandeliers here , just a few drapes and decorations to spruce up the exposed ceiling and fluorescent lights . Revelers danced on the center 's industrial concrete floor . Kelly Clarkson 's Inauguration Day diary . Seen close to the stage were the first lady 's mother , Marian Robinson , and Obama adviser and family friend Valerie Jarrett . Former Obama campaign manager Jim Messina was seen in the crowd . The Inaugural Ball was split between two floors in the building , and attendees were not allowed to go from floor to floor . While Monday 's events were the only two official balls , there were others in the city around the inauguration . On Sunday night , they included the Red , White and Blue Ball headlined by Lynyrd Skynyrd ; the Hip Hop Ball , chaired by Russell Simmons with appearances by 2 Chainz , John Legend , Eva Longoria and Swizz Beatz ; and the `` Latino In Performance '' and `` Let Freedom Ring ! '' galas at the Kennedy Center . On Monday , the Creative Coalition was putting on a ball with a performance by the Goo Goo Dolls , while the Young and Powerful Black Tie Ball and the Congressional Black Caucus Inaugural Ball were also taking place in the city . Sponsors threw a ball for George Washington a week after his inauguration in New York in 1789 , but the celebrations were established as a tradition with the inauguration of James Madison in Washington in 1809 . The Obamas dashed around Washington to 10 balls in 2009 , but like many things in his second inauguration -- smaller crowds , shorter lines , shorter speeches -- the number was reduced . President Bill Clinton 's second inauguration in 1997 holds the record for most balls with 14 . George W. Bush had eight balls in 2001 and nine in 2005 . Drama in red : First lady doubles down on Jason Wu . CNN 's Allison Brennan , Alison Harding and Lesa Jansen contributed to this report .
Obamas dance to Al Green 's performance of Wu ` I Ca n't Stop Loving You First lady wears Jason Wu gown to both soirees ; Wu also designed her 2009 gown . two acts were to perform at the 21 official inaugural balls Monday night .