‘Sesame Street’ veteran Bob McGrath has passed away at age 90, according to his loved ones. His family wrote on his official Facebook page, “Our father Bob McGrath, passed away today. He died peacefully at home, surrounded by his family.”

McGrath will best be remembered for his time on the popular children’s show, ‘Sesame Street,’ where he appeared in 47 seasons of the show, first appearing in the pilot of the show in 1969 playing himself. The actor appeared in his final episode of ‘Sesame Street’ in 2017, but continued to work with Sesame Workshop, the company that runs the franchise, by advocating and attending public events. Not only did McGrath serve as a recurring cast member for 47 seasons of the children’s series, he also provided educational lessons for the children along with creating original songs for the show such as, “People in Your Neighborhood,” “Sing a Song,” “If You’re Happy And You Know It,” and even the show’s theme song.

The Sesame Workshop confirmed his death in a statement reading, “Sesame Workshop mourns the passing of Bob McGrath, a beloved member of the Sesame Street family for over 50 years. A founding cast member, Bob embodied the melodies of Sesame Street like no one else, and his performances brought joy and wonder to generations of children around the world.” The statement continues by saying, “Whether teaching them the ABCs, the people in their neighborhood, or the simple joy of feeling music in their hearts. A revered performer worldwide, Bob’s rich tenor filled airwaves and concert halls from Las Vegas to Saskatchewan to Tokyo many times over. We will be forever grateful for his many years of passionate creative contributions to Sesame Street and honored that he shared so much of his life with us.”

McGrath is survived by his wife, Ann McGrath, and their five children, Liam McGrath, Robert McGrath, Alison McGrath Osder, Lily McGrath and Cathlin McGrath, along with his eight grandchildren.