Bruce Springsteen and Roger Waters joined an all-star lineup of comedians last night as they recognized wounded military personnel at the Bob Woodruff Foundation's annual Stand Up for Heroes benefit.

Waters led a group of wounded veterans through an emotion-packed run of songs that included Pink Floyd's 'Comfortably Numb' and 'Wish You Were Here,' John Lennon's 'Imagine,' Leonard Cohen's 'Hallelujah' and Sam Cooke's 'A Change Is Gonna Come.'

Springsteen -- who has performed at each of Woodruff's seven benefits -- offered a set that included an acoustic version of 'Dancing in the Dark,' a duet with wife Patti Scialfa on 'If I Should Fall Behind' and a cover of Suicide's 'Dream Baby Dream,' on which Springsteen accompanied himself on a pump organ. You can watch his set above.

The evening climaxed as Springsteen auctioned the guitar off his shoulder for $250,000. Comedians Jon Stewart, Bill Cosby and Jerry Seinfeld opened the show, which took place at the Madison Square Garden Theater and aired live online. You can watch the entire event below.

Waters has dealt with war and its awful effects in his own music for years, most notably on his last two albums with Pink Floyd, 1979's 'The Wall' and 1983's 'The Final Cut.' He lost a grandfather in World War I and then his father in World War II. More recently, Waters has made recognizing veterans a regular part of his tours.

Woodruff is an ABC News reporter who was nearly killed by an improvised bomb while covering the Iraq War in 2006. His foundation, which focuses on helping soldiers integrate back into society after being injured, has raised more than $20 million over the years.

Watch Stand Up for Heroes 2013