VIDEO: Gloria Estefan & the Cast of ON YOUR FEET! Perform on the TONY AWARDS

Gloria Estefan and the cast of On Your Feet wowed the Beacon Theater audience with a medley of songs from the Broadway musical. Watch the full performance below!

On Your Feet!, the new Broadway musical based on the LIFE STORY of seven-time GRAMMY winning international superstar Gloria Estefan and her husband, nineteen-time GRAMMY winning producer-musician-entrepreneur Emilio Estefan.On Your Feet! opened on Broadway on Thursday, November 5, 2015 at the Marquis Theatre.

The musical, directed by two-time Tony Award winner Jerry Mitchell (Kinky Boots, Hairspray) and choreographed by Olivier Award winner Sergio Trujillo (Jersey Boys, Memphis) with an original book by Academy Award winner Alexander Dinelaris (Birdman, The Bodyguard Musical), lands on Broadway following a world premiere summer engagement at the Oriental Theatre in Chicago.

Emilio and Gloria Estefan have sold over 100 million records, won more than two dozen GRAMMY Awards, and sold out stadiums across the world - but their music is only half the story. From the heart of Havana to the streets of Miami came a cultural phenomenon unlike anything the music industry had ever seen. On Your Feet! is a new Broadway musical that follows the Estefans' journey to superstardom, set to their chart-topping, smash hits, including "Rhythm Is Gonna Get You," "Conga," "1-2-3," "Get On Your Feet," "Mi Tierra," Don't Want To Lose You Now," and "Reach," in addition to an original song written by Gloria and her daughter Emily Estefan.