THE SCREENING ROOM: The Skivvies, Will Swenson, Wesley Taylor and More Strip Down to Sing at Joe's Pub (Video)

Joe's Pub got steamy on Aug. 5 when the musical group the Skivvies, comprising actors Lauren Molina and Nick Cearley, took the stage with some special guests – clad only in their underwear.

Molina ( Sweeney Todd, Candide) and Cearley ( All Shook Up, Next to Normal) played everything from the cello, ukulele, guitar and glockenspiel to the melodica during the evening that featured special guests  Will Swenson ( Hair, Priscilla...), Susan Blackwell ( [title of show]), Ashley Brown ( Mary Poppins), Jessica Hendy ( Aida, Cats, Amour), Mitchell Jarvis ( Rock of Ages, Fiddler on the Roof) and Wesley Taylor ("Smash," Rock of Ages, The Addams Family).

Here's a look at highlights from the concert:

The Skivvies - "Hot in Here"/"It's Hot Up Here"/"Hot Hot Hot."

Will Swenson - "Get Low."

The Skivvies and Wesley Taylor - "Call Your Girlfriend"/"Call Me"/"Call Me Maybe."

The Skivvies and Susan Blackwell - "Good Day Sunshine"/"Burgundy Shoes."

The Skivvies and Ashley Brown - "Umbrella."

The Skivvies and Jessica Hendy - "My Strongest Suit."

The Skivvies - "I Feel The Earth Move."

The Skivvies and Mitch Jarvis - "Careless Whisper."

The Skivvies - "We Found Love."

The Skivvies - "Video Killed the Radio Star."