Legend, who founded Free America, an organization that focuses on the issues of young people who are incarcerated, joined Cook County State's Attorney Kim Foxx and others at the Chicago Cultural Center.
"Thinking about why we use prisons and jails as our main tools to solve these problems when it's clearly ineffective, clearly harmful to the community, clearly expensive and there's clearly better alternatives," Legend said.
Legend and his wife, model Chrissy Teigen, spent the day with their daughter at the Lincoln Park Zoo before Legend attended the panel.
The singer posted a photo to Instagram captioned, "Time for a zoo visit! #LunasFirstTour."