Actor Jon Voight joined thousands of participants at the Restoring Unity event this weekend in Birmingham, Alabama, taking the stage to sing and dance along with a gospel choir that was on-hand to offer praise and worship music during Saturday's speakers series.

"I started dancing back there, because this is my favorite music," Voight said during an impromptu stage appearance. "'Worthy of the glory, worthy of the power' — It's so wonderful, so I said, 'I want to get up there,' and so Glenn, he says, 'Go ahead.'"

Watch Voight and Alveda King, niece of Martin Luther King Jr., joining the choir on stage below:

And see the actor explain why he got on stage below: