Keith Urban engaged a national audience on Thursday morning (Aug. 2) during an appearance on Today's Citi Concert Series.

Thousands of fans lined the streets surrounding Rockefeller Plaza for the in-person experience, and Urban rewarded them with a four-song set that included "Blue Ain't Your Color," "Wasted Time," "Never Comin' Down" and "Coming Home," which included an appearance from Julia Michaels.

Urban admitted to Today hosts Hoda Kotb and Savannah Guthrie that he's having a blast on his Graffiti U World Tour this summer. "Everything inspires me," he says. "Many things inspire me. With the Graffiti U World Tour we're doing, we're having the most fun out there."

Kotb and Guthrie must be Urban fans, because they danced along during his Thursday performance, as did the satisfied crowd.

"I say the weekend starts right now, what you think?" Urban asked from a catwalk placed in the middle of the live audience. He then segued into a nostalgic, guitar-driven number:

"Never Comin' Down," also featured on his latest album Graffiti U, was a highlight, as was the appearance of duet partner Michaels. The two collaborators have become fast friends, and their ease on stage together was apparent throughout "Coming Home" on Today.

Michaels revealed earlier this year that Urban surprised her with a heartfelt housewarming gift when she returned from a tour overseas with Niall Horan — the singer walked into her home to find a Steinway piano! "I was in shock. I think I hugged it for an hour," she admitted.

Urban's tour runs through the fall.

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