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WXIA -- President Barack Obama and first lady Michelle Obama took the dance floor to Al Green's "Let's Stay Together" for their first dance at the Commander-in-Chief's Ball at the Washington Convention Center on Monday night.

R&B crooner and Chicago native Jenifer Hudson performed "Let's Stay Together" while the Obama's danced together, first, and later with service members.

First lady Obama greeted the crowd flanked in a ruby-colored custom Jason Wu chiffon and velvet gown with a handmade embellished diamond ring by Kimberly McDonald. Obama wore shoes designed by Jimmy Choo.

Wu claims he had no idea Obama would arrive in thedresshe designed. The first lady did not tell Wu she was wearing his dress before the big reveal.

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Vice-PresidentJoe Biden and Dr. Jill Biden danced to Ray Charles' "I Can't Stop Loving You," which was performed by Jamie Foxx.

After theInauguralfestivities, Obama's outfit and accessories will be preserved in the National Archives.