VIDEO: IF/THEN's Idina Menzel Sings 'You Learn to Live Without' on 'Letterman'

Tony Award winner Idina Menzel stopped by last night's Late Show with David Letterman and performed "You Learn To Live Without," from the Broadway musical, "If/Then." Check out the appearance below!

If/Then is now playing at the Richard Rodgers Theatre on Broadway, with Tony winner Idina Menzelleading the cast, which also features Anthony Rapp, LaChanze, James Snyder, Jerry Dixon, Jenn Colella, Jason Tam, Tamika Lawrence, and Jackie Burns.

If/Then is a contemporary new musical that follows two distinct storylines in the life of Elizabeth, a city planner who moves back to New York to restart her life in this city of infinite possibilities. When her carefully designed plans collide with the whims of fate, Elizabeth's life splits into two parallel paths. If/Then follows both stories simultaneously as this modern woman faces the intersection of choice and chance.

The original Broadway musical reunites Tom Kitt (music), Brian Yorkey (book and lyrics), and Michael Greif (director), the creative team behind the Pulitzer Prize and Tony Award-winning musical, Next to Normal. If/Then is being produced by David Stone, who produced both Wicked and Next to Normal.

The show reunites Menzel with Anthony Rapp, her original Rent co-star (the pair played Maureen and Mark, respectively). The musical also stars Tony award winner LaChanze (The Color Purple).

Menzel has performed internationally, both in musicals (she brought Elphaba to London's West End) and as herself in a concert tour. Other film and television credits include Enchanted, Ask the Dust, Glee, and Rent. Solo albums include Barefoot At The Symphony (a live recording of her PBS special by the same name), I Stand, Here, and Still I Can't Be Still.

Menzel (Wicked, Rent, Aida) is currently starring in If/Then, a new musical on Broadway that explores the effects chance and choice take on one woman's life. It was announced Tuesday that the actress has been nominated for a 2014 Tony Award for Lead Actress in a Musical for her performance in If/Then.

Menzel won the 2004 Tony Award for Best Actress in a Musical for WICKED and was also nominated for RENT in 1996. She just starred in Disney's mega-successful animated film FROZEN.