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    Kristen Bell, Idina Menzel, Josh Gad and Santino Fontana Reunite for Live Frozen Concert—Watch Now!

    Kristen Bell, Idina Menzel, Josh Gad, Santino Fontana, Frozen Cast Alberto E. Rodriguez/Getty Images for Disney

    This warms our hearts!

    The cast of FrozenKristen Bell (voice of Anna), Idina Menzel (voice of Elsa), Josh Gad (voice of Olaf) and Santino Fontana (voice of Hans) took the stage to perform songs from Disney's animated smash.  Backed by a live orchestra conducted by David Metzger, the four movie stars performed songs from the Golden Globe-winning film at the Los Angeles Vibrato Grill Jazz Club on Sunday, Feb. 9.

    The group sang a number of favorites, including "Love Is an Open Door," "Let It Go" and "In Summer."

    "We take for granted since so many people have seen the movie that we have never actually seen these songs performed live — in any venue, in any capacity," Gad told USA Today after singing with his costars for the first time ever. "But we performed these songs for an audience tonight. It was a thrill.

    VIDEO: Kristen Bell and Josh Gad hit up the Frozen premiere

    Bell noted that her husband, Dax Shepard, was quite enthusiastic during the show: "He's endlessly supportive. But he cries every time he sees me sing. I think he must have cried three times tonight."

    Songwriters Kristen Anderson-Lopez and Robert Lopez were in the house, as were composer Christophe Beck, directors Chris Buck and Jennifer Lee, producer Peter Del Vecho and executive producer John Lasseter. One star was missing, however: Jonathan Groff, voice of Kristoff, was ill.

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    Other attendees included Glee's Jane Lynch and Darren Criss, both of whom are friends with Groff.

    In theaters since Nov. 27, 2013, Frozen has grossed more than $900 million worldwide. The film's soundtrack has topped the Billboard 200 chart for four non-consecutive weeks, and it is the longest-running No. 1 film soundtrack since 2003. Mendel will perform the Oscar-nominated "Let It Go" at the 86th Annual Academy Awards on Sunday, March 2. "It's really happening," she tweeted. "Surreal."

    PHOTOS: Stars get animated

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