Rod Stewart really is forever young!

The rock legend — who sparked concern after a string of health setbacks and canceled concerts in June— belted out a number of hits while dancing on stage at a benefit for Steven Van Zandt’s Teach Rock charity at a luxe mega mansion in Southampton Wednesday night.

A source at the event tells us that Stewart played a “full blown concert” singing favorites like “The First Cut is the Deepest,” “Have I Told You Lately,” and “Forever Young,” for an hour and a half.

“Everyone was talking about how incredible he looked,” says the spy. “He was dancing all around the stage at 81. He is in better shape than men half…

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