Taylor's concert came at the end of the first day of public visitation for the Respect hitmaker at the nearby museum, where the singer's body will lie until Thursday for hundreds of visitors to pay their respects.
Franklin died at the age of 76 on August 16 after a battle with pancreatic cancer.
A sea of women wearing black, many with African violet corsages and pearl necklaces lead a procession into the rotunda of the Charles H. Wright Museum of African American History.
Aretha Franklin and Ariana Grande
The casket of legendary singer Aretha Franklin is removed from the Charles H. Wright Museum of African American History in Detroit, Wednesday, Aug. 29, 2018. The same vehicle - owned by Swanson Funeral Home, which is handling all the arrangements - also carried civil rights icon Rosa Parks as well as Franklin's father, Rev. C.L. Franklin, who was a fixture in Detroit. Two days before her death, Franklin was honored by Beyonce and Jay Z in Detroit.
The funeral is planned as a star-studded musical tribute, with Stevie Wonder, Faith Hill, Ronald Isley, Chaka Khan and Jennifer Hudson all scheduled to perform at the ceremony, according to the Detroit Free Press.
Museum board member Kelly Major Green said the goal was to create a dignified and respectful environment akin to a church, the place where Franklin got her start. I was able to visit with her a few times there at the apartment and to hold her hand and to YouTube my dad singing Joy Bells.
Ann Fortson, 63, said: "She was a symbol for us".
Swift went on to say that Franklin "was one of those people where no matter what you said, no matter what glowing positive thing you said about her, it would be an understatement".
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After telling a fictional tale about how his wife committed suicide, Gio then says, "We got something in common". Her name was listed under "Special Publicity Consultant (Inadvertent)" during the credits of Sunday's finale.