"Taking the stage at Detroit's Greater Grace Temple, Grande brought her A-game to a moving performance of "(You Make Me Feel Like) A Natural Woman", a beloved hit from the Queen of Soul, who died earlier this month at age 76 after battling pancreatic cancer.
Here are some pictures from the ceremony.
On Thursday, more than 40 artists performed for thousands at a free concert, billed "A People's Tribute to the Queen", powering through some of her greatest hits, culminating with "Respect".
Though it sounds like a breach in royal etiquette, if Friday's memorial says anything, the family certainly did not hold that against her.
Mayor Mike Duggan announced at the service that he meant to have the city's riverfront Chene Park renamed in Franklin's honor.
Franklin won 18 Grammy awards and was feted for her civil rights work, raising money for the cause and inspiring activists with her anthems.
Speaking to US Weekly on Monday (August 27), Knight spoke about Aretha's death and got reflective on her own life.
Actor Glynn Turman, who was married to Franklin from 1978 to 1984, recently told the show "Good Morning Britain" that one of his favorite memories of her occurred in England.
Franklin was dressed in a sparkling full-length gold dress with sequined heels for her final outfit, and she was dressed head-to-heel in red for her first public viewing on Tuesday, a nod to her membership in the sorority Delta Sigma Theta. "I love her. She was my longest friend".
Vaughn Franklin, the singer's nephew, told mourners: "I am sad today because I am losing my friend, but I know the imprint you left on this world can never be removed".
Former presidents Barack Obama and George W. Bush didn't attend Franklin's funeral but they sent messages to honor the Queen of Soul.
Detroit Mayor Mike Duggan took to the podium to announce a proposal to rename the city's waterfront Chene Park after Franklin. A new generation of singers like Grande who are inspired by the late Queen of Soul is just the beginning.