Prince Harry Jumps Up On Stage With Coldplay During HIV Charity Concert -- See the Pics!

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Prince Harry and Coldplay came together at Kensington Palace on Tuesday, all for a good cause.

The GRAMMY-winning band headlined the 31-year-old royal's concert for his charity, Sentebale, which aids children in Africa who are suffering from extreme poverty as well as HIV and AIDS. Harry introduced the band to the stage, and also sang along to their song "Up&Up."

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NEWS: Prince Harry Vows to Carry on Princess Diana's Legacy by Raising Awareness for HIV and AIDS

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Tuesday night's show marked the first concert ever to be held on the East Lawn of Kensington Palace. Harry spoke passionately about his fight against HIV and AIDS to the crowd of 3,000 people.

"Every single one of us has a responsibility to educate ourselves -- to do what we can to speak out and stamp out the silence that the virus needs to win," Harry said. "We must follow the example of Lesotho [in South Africa] and meet one of the great challenges of our generation with optimism, energy and openness."

On Tuesday, Kensington Palace announced that Harry will be increasing his efforts on raising awareness about HIV and AIDS, especially among young people. Harry's late mother, Prince Diana, devoted herself to same cause during her own life.

"Building on his decade of experience in supporting young people with HIV in Lesotho through his charity Sentebale, the Prince is now determined to help his generation understand that the battle against the disease has not yet been won and still needs fighting," a royal spokesperson said in a statement. "His Royal Highness wants to expand his own knowledge of the challenges and opportunities in the fight against the virus around the world. This will see him tackling topics including testing, treatment, and prevention as well as anti-stigma efforts that were famously championed by his mother Diana, Princess of Wales."

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Last month, Harry opened up about wanting to make Princess Diana "incredibly proud."

"When she died, there was a gaping hole, not just for us but also for a huge amount of people across the world," Harry told People. "If I can try and fill a very small part of that, then job done. I will have to, in a good way, spend the rest of my life trying to fill that void as much as possible. And so will William."

"All I want to do is make my mother incredibly proud," he added. "That's all I've ever wanted to do. ... I know I've got a lot of my mother in me. I am doing a lot of things that she would probably do."

Watch below.

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