The evening's other performers included fiddler Natalie McMasters and the Gates of Praise Choir, as well as the New York Police Department's Emerald Society Pipe and Drum Corps, which opened the tribute.
Speakers at the memorial included actor Alan Alda, Nightline anchor Ted Koppel, ABC News president David Westin, and Jennings's children Chris and Elizabeth.
Lileana Blain-Cruz directs the new production, opening April 23.
The Cuban-born composer is this season's Debs Composer's Chair.
The cast is led by Bryonha Marie and Nathan Gunn, with Tony winner Ted Sperling at the baton.
The season, opening September 21, will include 58 ballets across 21 weeks of performances.
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