Yes, Martin Luther King, Jr. visited Washington University in St. Louis on December 4, 1957 as part of an assembly sponsored by the Religious Policy and Program Committee of WU held in Graham Chapel. The choir, directed by Donn Weiss, assistant professor of music, sang at the assembly.
The event was discuss in Student Life December 3, 1957, page 1
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Unfortunately no audio or film recording exists of this event.