Clemons and Springsteen were friends for more than four decades.
Springsteen joined J.T. Bowen, who was the lead singer of Clemons' band in the 1980s, The Red Bank Rockers. Bowen was singing with The Soul Cruisers when he called Springsteen to the stage.
The Star-Ledger of Newark reports Springsteen kicked things off with "Action in the Streets."
The set ended with a long version of "634-5789."
The E Street Band saxophonist, who was known as the Big Man, died of stroke complications on June 18. He was 69.