The two joined in on the fun with returning coaches Adam Levine and Blake Shelton for the first round of blind auditions.
The evening kicked off with the judges performing a version of The Beatles' "Come Together.” Watch!
Contestant Judith Hill, who was a member of Michael Jackson's "This is It" tour, was the best performance of the evening, singing a rendition of Christina Aguilera's "What a Girl Wants." She ended up on Team Adam, who really wanted her.
Other standouts included The Morgan Twins, who ended up with Team Blake, as did 16-year-old contender Danielle Bradbury and Christian Porter, who took on "Sexy and I Know It" by LMFAO.
Usher partnered with two hopefuls, R&B singer Vedo and indie pop star Jess Kellner of Austin, Texas, while Shakira will mentor Kris Thomas from Memphis and Mark Andrew, who performed "Knockin' on Heaven's Door."
"The Voice" returns Tuesday at 8:00 PM on NBC!