The word cantaron is the preterite form of cantar in the third person plural.
See the full cantar conjugation

cantar

La Sra. Lark tocó el piano y los niños cantaron.
Mrs. Lark played the piano and the children sang.
¿Crees que no recuerdo el primera canción que cantaron juntos?
You think I don't remember the first song we sang together?
Se abrazaron y cantaron y bailaron en las calles.
They embraced each other and sang and danced in the streets.
Juan tocó la guitarra y sus amigos cantaron.
John played the guitar and his friends sang.
¿Te acuerdas de aquella vez en el puente cuando cantaron?
Remember that time on the bridge when you sang to each other?
Los monjes tai del sur de Washington cantaron en Pali.
Thai monks from southern Washington offer chanting in Pali.
Añadió que los estudiantes cantaron y bailaron durante todo el show.
She added that students were singing along and dancing throughout the show.
Entonces creyeron a sus palabras Y cantaron su alabanza.
Then believed they his words; they sang his praise.
No, ahí fue donde me cantaron los ángeles.
No, that's where the angels sang to me.
Lo que escribieron y lo que cantaron les venía del corazón.
What they wrote and what they sang came from their hearts.
Cuando cantaron sin música, ¿qué fue?
When they sang in no music, what is that?
¿Qué fue lo que cantaron con el coro?
What did you guys sing in the choir?
Ese es el tren del amor acerca del que los O'Jays cantaron.
That's the love train that the O'Jays sang about.
¿Qué otra cosa cantaron después de eso?
What else did you sing after that?
Después del desfile los participantes cantaron y bailaron en la plaza.
The parade was followed by song and dance at the square.
Ellos cantaron una canción del triunfo sobre.
They sang a song of triumph o'er.
Los ancianos de la tribu se sentaron en casa del sacerdote y cantaron.
The old men of the tribe sat in the priest's house and chanted.
Las personas adoraron al Señor con las manos levantadas, y cantaron canciones de alabanza.
The people worshipped the Lord with lifted hands, singing songs of praise.
Los novicios cantaron y participaron en la Liturgia de la Palabra.
The novices animated the songs and participated actively in the Liturgy of the Word.
Toda la tierra está en reposo y en paz; se cantaron alabanzas.
All the lands are at rest and at peace; they break into singing.
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