He even did a bit about going blind that was shared on Twitter by Jeremy Roebuck of the Philadelphia Inquirer.
>> Click here to watch
He also entertained the audience with a little drum solo. Cosby reportedly did not comment on the ongoing sexual abuse retrial, which is scheduled for April 2. His first trial ended with a hung jury last year.
Journalist Bobby Allyn tweeted that he asked the actor about how the #MeToo movement might affect a new jury and got a subdued response.
"I asked Cosby if he's prepared for his second trial, and he looked me in the eyes and said nothing stonefaced. I then asked how he thinks #MeToo might affect jurors, and he shrugged in an animated way, put on a goofy smile and said, 'I don't know!'" he wrote.
>> See the tweet here
In a statement released ahead of the event, Cosby's official Facebook page said he "will honor his fans with a historic performance with the Tony Williams Jazz Quartet and he will be performing a special comedy concert that will culminate the evening."
>> See the post here
Earlier this month, Cosby was welcomed at another Philadelphia restaurant, where fellow diners chatted and joked with him as he ate.