The former first lady, 54, was seen leaving with the musician, 68, after he performed his show Springsteen on Broadway.
She looked trendy in a printed ensemble with long sleeves, which she paired with metallic, high-heeled sandals.
Michelle finished off her outfit with a pair of hoop earrings and wore her hair down in glossy waves.
Bruce, a longtime friend and supporter of the Obamas, left the Walter Kerr Theatre at the same time as Michelle, dressed in a T-shirt and a pair of jeans, teamed with a black leather jacket and worn-out shoes.
The singer’s public friendship with the Obamas dates back to 2008, when he joined then-candidate Barack on the campaign trail.
He later played at his inauguration and endorsed Barack again during his 2012 campaign.
Bruce was scheduled to play his one-man show again on Friday evening. His Broadway residency has been extended after a series of consistently sold-out performances.
On Friday afternoon, tickets for the event all cost more than $1,000 online, with some orchestra seats even topping $2,000.
Michelle looked in high spirits as she left the show on Thursday evening, taking the time to smile at the camera.
She even waved in direction of the lens before continuing on her way.
The former first lady’s stay in New York City comes shortly after a vacation in Mallorca, Spain.
She was spotted in August on the island, where she stayed as the guest of former Ambassador James Costos, 55, and his partner Michael Smith, 54.
Michelle was seen going for a hike, surrounded by a heavy security detail, and leaving a restaurant after having lunch with the couple.
On the day after she attended Bruce’s show in New York City, Barack found himself at the University of Illinois at Urbana–Champaign, where he was receiving an award for ethics in government.
He delivered a blistering speech slamming President Donald Trump and the Republican party, as well as a few lighthearted comments acknowledging how much he misses his daughter Malia, 20, now that she has left home to go to Harvard University.