Back in 2008, Josh performed a special show at Rose Hall in New York. The evening was recorded and released through PBS in 2009.
The DVD was able to be purchased through the PBS store, but sadly it doesn't appear that you can still purchase it here, but you might be able to locate a copy through eBay.
Anyway, Josh's YouTube Channel has recently posted 3 clips from the concert so I thought I'd post them here for your enjoyment. Make sure you watch in HD.
You Are Loved (Don't Give Up)
Machine (Featuring Herbie Hancock)