The Ray star took to the stage at the Washington Convention Center in Washington, D.C. after Jennifer Hudson, who had performed Al Green's classic Let's Stay Together for the First Couple's dance.
Foxx took a leaf out of the late Ray Charles' book and belted out his hit 1962 track I Can't Stop Loving You as Biden and his wife took to the dance floor.
Before starting his performance, Foxx said: "Please make some noise for an incredible day today. Now, I'm sure after this wonderful day today you will probably whisper in your wife's ears something like this..."
Earlier in the day, Foxx took to his Twitter to post snaps from the inauguration celebration, writing: "So honoured to be here."