The dance show, on Saturday (August 15), was a showcase and meet-and-greet by the Strictly professionals, in which Kennedy performed a Charleston dance.
She wowed crowds with the same routine in The People's Strictly, when she was a contestant for Comic Relief earlier this year.
Kennedy, 55, has received an OBE for services to special needs education, and has dedicated her life to raising money and awareness to her charities in aid of Autism Spectrum Disorders.
She said: "The show was buzzing and it was a fabulous show. I spoke on stage for over 15 minutes, Robin and I danced our Charleston to a standing ovation, I spoke about my experience on Strictly and the work of my charity where our young charity champion sang to audience.
"All the dancers including Robin and Kristina took part in a selfie with the audience.
"Kristina has asked me to dance again at her charity event."
Rihanoff is a trustee of The Dot Com Children's Foundation, which aims to beat abuse and violence against children.
Hayes Beck Theatre, Grange Road, Hayes, UB3 2UE - 020 8561 8371