Singers Kelly Rowland and Estelle got to know each other Thursday night (Jun 3) as the two of them attended the 2010 amfAR New York Inspiration Gala at the New York Public Library in NYC.

Ricky Martin was honored for his philanthropic efforts through his Ricky Martin Foundation during the black-tie event. Other celebs at the amfAR gala were Zoe Saldana and Kylie Minogue, who was the host for the evening ceremony.

Later in the evening, guests were treated to a performance by Cyndi Lauper, Kelly Rowland and Estelle. Check out 15+ pictures from the 2010 amfAR New York Inspiration Gala below…