Rajasthan Chief Minister Ashok Gehlot and some BJP leaders were also present.
Singh, 86, has come back as a member of the Rajya Sabha from Rajasthan. He was elected unopposed as the BJP did not put up a candidate against him.
Singh returned to the Rajya Sabha after a brief gap since his retirement from the Upper House on June 14 this year.
He had earlier represented the state of Assam in Rajya Sabha for a long period.