Lionel Richie has a whole CD of duets that he just put out, but now he has a new partner!

It was a historic moment in the Richie family last night -- Lionel shared the stage with his 14-year-old daughter Sofia for the FIRST TIME.

Sofia and her dad were at some think tank in Santa Monica called the Milken Institute when they both grabbed mics and broke into song. He is definitely a proud papa!