"I wanted to bring the cast of the show on a tour of the stadium that holds many great memories for me. We have had a wonderful time sampling the sights and sounds today," he said.
"I've been lucky to sing here a few times, so it has been great to get a look behind the scenes and see how it all works. I have sung the national anthem ahead of both rugby and football matches and there really isn't anything quite like a matchday in Cardiff.
"Myself, Katherine Jenkins and Bryn Terfel sang the national anthem in 2005 when Wales defeated England and went on to win the Grand Slam. That was quite an occasion.
"The Tsunami Relief concert was a particularly special time. It was an incredible day and I must admit to being nervous about how my music would be received.
"I'm also friends with some of the guys in Goldie Lookin Chain and they were winding me up before I went on stage. Luckily it went well and I will never forget the emotion in the stadium that day."
Despite Jones' Welsh roots, he is a fervent Arsenal fan and had the task of singing the national anthem ahead of the 2006 Community Shield match between his side and Chelsea.
"That is not one of my better memories of this stadium," he recalled. "When I opened the matchday programme, my love for Arsenal was splashed all over page four. I was booed by 30,000 Chelsea fans. Not a nice experience and to rub salt into the wound we lost 2-1."
Last year Jones recorded the first 'rock' album of his career. "Don't worry - I haven't gone thrash metal or anything," he joked. "But I did think it was about time I tried something new."
That 'something new' is Reason to Believe, a selection of songs old and new, secular and occasionally devotional, showcasing the voice that has been entrancing audiences since he was a choirboy.
He said: "I've been singing hymns for years and I've gone looking for songs with the same inspirational quality as a hymn, but not necessarily the same subject matter. And I think I've found them."
The singer learned to play drums for BBC TV's 'Play it Again' show and admitted "it would be nice" to perform at the Millennium Stadium, but for now Jones is appearing in his more famous guise as an singer at the Millennium Centre in Cardiff in 'Chitty Chitty Bang Bang' until August 30.