From his memorial service- the final song in the medley the main muppeteers performed was "Just One Person". It starts out with Richard Hunt performing Scooter, then Jerry Nelson joins in as Gobo Fraggle, then Steve Whitmire as Wembley Fraggle, then Kevin Clash as Elmo, then Frank Oz as Fozzie and David Goelz as Gonzo, thenpretty much every able-bodied muppeteer with one of their signature characters (Caroll Spinney as Oscar the Grouch, Karen Prell as Red Fraggle, etc.). Has to be watched.
The entire service, in fact.
Steve Whitmire was naturally very nervous about taking over the role of Kermit, despite Henson having already hand-picked him for it. Then he had a dream where Henson told him he would be great in the role, and he's stuck with it ever since.