CBS aired a two-hour special (directed by Bruce Gowers) in late November, editing from footage of the two separate concerts. The televised special re-sequenced the songs somewhat. IMdB possibly has the most complete description of the program. Also read this.
Apart from that, the AP Archive has a Ray Charles "file reel" with a "Performance - Crying Time, Ray Charles & Cassandra Wilson". A few seconds of it can be watched here.
Ray and Cassandra also participated in the chorus line for the finale, a group rendition of We Are The World, that also was NOT aired by CBS. Conductor Quincy Jones for this occasion had also emptied his Rolodex with jazz instrumentalists, for instance bringing David Newman, Clark Terry, Les McCann and Jimmy Smith on stage.
The performance of We Are The World was a terrible chaos. An amateur filmer took care of the footage below.