"I'm so happy to be with you, so thank you for having me," Grande told the crowd at Manchester Pride on Sunday night.
"Sorry, I'm so nervous. I had so much more to say, but I'm really very overwhelmed. So thank you."
She last appeared in the city in June 2017 at the One Love concert, which she organised to raise money for the emergency fund after the deadly attack at her show at Manchester Arena the previous month.
Grande posted a message on Twitter ahead of her Pride slot, saying: "On our way to manchester pride.
"love u so much.
"can't wait to give u all our love."
The singer added: "you're my heart in every way.
"see u soon."
The victims included 14-year-old Scottish teen Eilidh MacLeod, who hailed from Barra.