Michael Jackson's children Prince and Paris made a rare public appearance together Tuesday night to support charities helping people with HIV/AIDS.

Prince, 20, and Paris, 19, attended the fundraising gala for the Elizabeth Taylor AIDS Foundation and the nonprofit mothers2mothers in Beverly Hills.

The siblings, who lost their famous father in 2009, held hands as they posed for photos.

Famous offspring: Michael Jackson's children Prince, 20, and Paris, 19, made a rare joint public appearance Tuesday in Beverly Hills to support charities helping people with HIV/AIDS

Paris looked lovely in a pretty patterned dress that she wore off the shoulder.

The frock had half sleeves and fell to the floor.

The aspiring actress wore her dyed blonde hair loose in a tousled look and sported a variety of bracelets and necklaces.

Her brother was more casually dressed in blue jeans with a white cotton shirt and a buttoned up black tailored jacket.

Fashionista: Paris looked lovely in a pretty patterned dress that she wore off the shoulder. The frock had half sleeves and fell to the floor and she wore her hair loose in tousled curls

Good cause: Paris is an ambassador for her late godmother Elizabeth Taylor's AIDS Foundation. The gala served as a fundraiser for ETAF and also the nonprofit mothers2mothers

Paris announced last month that she has become an ambassador for the foundation established by the late Hollywood star who was her godmother.

The teen told InStyle last month that she had also been deeply moved during a recent trip to the African country of Malawi to learn more about the work of mothers2mothers that seeks to support and educate mothers in sub-Saharan Africain order to minimize the numbers of children born HIV positive.

'The most heartbreaking moment of all this for me was when I met a 20-year-old mother affected by HIV who was in the mothers2mothers support program. If she had gotten medication sooner, she wouldn't have passed HIV on to her child,' paris told the magazine.

'When she talked about it, I could see in her eyes that she was expecting death. Here, with the medical advances that we have, there's still a chance.... But when you get diagnosed with HIV out there, you get it and you think you're a goner,' she added.

Close: Prince was more casually dressed in blue jeans with a white cotton shirt and a buttoned up black tailored jacket

Gorgeous: Also supporting the cause was model and TV personality Heidi Klum, 44, who showed off her stunning figure in a silk kimono-style dress that revealed her long legs

Also supporting the cause was model and TV personality Heidi Klum.

The 44-year-old beauty showed off her stunning figure in a silk kimono-style dress that revealed her long legs.

Her flower-themed frock was cinched at the waist with a dark red sash tied in a bow and she added a pair of black pointed toe heels.

On hand, too, was actor John Stamos, 54, and his new fiancee Caitlin McHugh, 31.

The couple put on a loved up display as they arrived at the event and posed for photos.

Newly engaged: On hand, too, was actor John Stamos, 54, and his new fiancee Caitlin McHugh, 31, and the couple put on a loved up display as they posed for photos