Reclusive rocker Prince took to the stage in Baltimore on Sunday evening in a "Rally 4 Peace" concert in response to the death of a 25-year-old man from injuries suffered in police custody and the riots that followed, telling the crowd, "We are here for you."

The Grammy-winning musician, appearing at Royal Farms Arena along with his backing band 3RDEYEGIRL, performed such hits as "Raspberry Beret" as well as a new song called "Baltimore," which he dedicated to the city.

"We are here for you tonight," he said.

A statement released by the venue earlier last week promised other "superstar guests" at the concert.

A promotional image for the show urged attendees to "wear something gray," in apparent reference to Freddie Gray, who died in a Baltimore hospital a week after his arrest on April 12.

Gray's death became the latest flash point in a national outcry over police killings of unarmed black men and other minority groups in the United States, and provoked weeks of protests punctuated by a day of riots, arson and looting in the city on April 27.

Days later Baltimore's chief prosecutor announced charges against all six police officers involved in Gray's arrest, ranging from misconduct in office to second degree murder.

Prince released "Baltimore" on Sunday ahead of the concert, which features performer Eryn Allen Kane and includes a mention of Gray.

Though Gray was not killed by a gunshot wound it also urges: "Let's take all the guns away."