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Robert Downey Jr. sings "Driven to Tears" with Sting
The footage is actually from October 2011 but it didn't surface until recently.
For Sting's 60th birthday bash at the Beacon Theater in New York City, actor Robert Downey Jr. steps on stage to sing "Driven to Tears" with Sting. Other celebrities and artists were in attendance, but it was this performance that everyone remembers.

Robert Downey Jr. & Sting - Every Breath You Take (Ally McBeal)
Robert Downey Jr. and Sting singing "Every Breath You Take" together on "Ally McBeal" TV show (season 4).
This video has Spanish dialog subtitles....please disregard them.