The actor, who enjoyed a successful rapping career in the 1990s, joined Jaden for a rendition of “Icon”, the footage of which was later posted to Instagram. It marked his debut at the California music festival.
Jaden filmed as his dad rapped along to the hit song in celebration of his parody remake of the music video, which was released last year.
“This is my first time ever on a Coachella stage and I love y’all,’ Will told the crowd midway through the performance.
His wife Jada Pinkett-Smith watched on as the pair performed together, just a week after daughter Willow joined Jaden on stage.
The film will be released in UK cinemas on 22 May.