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Idina Menzel, Thanksgiving Day Parade

Michael Stewart/Getty Images

Frozen and Broadway actress Idina Menzel and Pretty Little Liars star and country singer Lucy Hale were among the celebrity performers at the 2014 Macy's Thanksgiving Day Parade.

Menzel did not perform the Disney movie's wildly popular song "Let It Go," opting instead of sing a cover of Mariah Carey's 1994 hit "All I Want for Christmas Is You," which is featured on the former singer's new album Holiday Wishes.

"Freezing my tush off on this float," Menzel joked on Twitter.

Hale sang her single "Lie a Little Better," which is featured on her debut album, Road Between.

"That was amazing ! And so cold. Thank you !" Hale tweeted.

They were joined by the likes ofNick Jonas, who performed his new song "Jealous," from his new second, self-titled studio album. (And due partially to the honor of the family holiday and because temperatures were near-freezing, the pop star and heartthrob kept his shirt on.)

He also took a fantastic selfie with NBC weather anchor Al Roker.

So did "All About That Bass" singer Meghan Trainor.

And, of course, Menzel as well.

Kiss also performed at the parade, bringing some old school rock n' roll goodness.

They also hung out with Menzel!

The themes of some of the amazing floats were Teenage Mutant Ninja Turtles and How to Train Your Dragon 2.

Returning favorites were seen in balloon form, while the Red Mighty Morphin Power Ranger made his "MORPHENOMENAL debut." Thomas the Tank Engine, the loveable British character voiced by several people over the years, including Beatles drummer Ringo Starr, was also featured for the first time.

Check out more photos from the annual event!