Most 'live' performances that I've witnessed don't include an audience member joining the band. While this is the 'safe' way to go, I'd like to suggest another path.
I recently played a solo-gig at a party. I set up an extra mic and announced many times that, 'there's another mic here, just waiting for you to join me!'
I didn't have any 'takers' until the very end. Of course, the drunk brother of the host wanted to knock out a number. He did a poor job of 'Mustang Sally.' But, everyone danced and they all loved the song.
The brother slid me a C-note and with a 'wink,' said, 'thanks for that.'
Musically, it was a disaster, but it ensured that I'll get the call the next time they throw a party. And, the cash didn't hurt either!