July 19, 2015 06:00 PM

Kelly Clarkson took a night off from her Piece by Piece tour this week for a special visit with daughter River Rose to New York City’s American Natural History Museum.

The “Since U Been Gone” singer and her husband Brandon Blackstock were joined by friends as they spent an evening at the storied Manhattan museum.

“My family & I had an amazing night at the museum! Thank you @AMNH,” she wrote on Instagram Saturday, sharing a photo of the group. “It was awesome & unforgettable!!”

Clarkson, 33, was dressed casually for the visit, wearing a plain black cap, jeans and a navy graphic T-shirt. She kept her hand on River’s stroller, where the 13-month-old happily sucked on a pacifier.

Courtesy Kelly Clarkson

Clarkson was in the city for her two-night tour stop at the famed Radio City Music Hall on Thursday and Friday.

The singer says River, whose name pays homage to her parents’ riverside home and Clarkson’s mother’s maiden name, has impacted her life for the better.

“I love what I do, but I feel like I relied on my career a lot for my self-worth. And now I’m more than that,” Clarkson told PEOPLE earlier this year. “I’m a mother and a wife and have this whole other thing going on.”

— Lindsay Kimble

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