It was a smart idea to pair these different but complementary bands for a gig at London's poshest open-air venue. One is a legendary Senegalese outfit strongly influenced by Cuban music; the other a Latin big band with deep African roots.

Where Baobab are mellow and methodical, the All-Stars are sophisticated and mercurial. What they share is the art of groove: each number has an irresistible forward momentum, whatever the tempo. You can see this in the crowd: no one can remain still while either band is playing. It's not just that their rhythm sections are great but that the essential feel of each number comes from every member of the band.

Baobab's slow grooves flow from the arpeggios of the guitars to the easy slurs of the saxophones. The All-Stars have a collective pulse that inhabits each number like a throbbing machine, with individual players on cowbell, congas (the fantastic Adel Gonzalez), timbales, maracas and guiro playing as one.

Baobab's music is so chilled that cheering seems uncool, but there's a good-natured roar of approval when Barthelemy Attisso strikes up the opening guitar lines to Utru Horas, from their Pirate's Choice album.

The All-Stars band, led by Juan de Marcos Gonzalez, features five brass, seven rhythm and three singers, including sweet-toned Tirso Oriol Duarte. A ballad features the leader on wah-wah tres and guiro-player Luis Lang on violin, but the mood never stays soft for long. The band has that classic Cuban ability to turn on a glittering sixpence, modulating from pure groove to percussive improvisation to fiery, intricately crafted ensemble playing.