Bob McGrath, who stared as Bob Johnson on Sesame Street has died at age, 90 his family announced on his Facebook page today.

They posted a picture of McGrath with the caption, “The McGrath family has some sad news to share. Our father Bob McGrath, passed away today. He died peacefully at home, surrounded by his family.”

McGrath appeared in the pilot episode of Sesame Street in 1969 and stayed until retiring in 2017. His final episode was titled, “Having a Ball” After retiring from acting on the show, Bob continued to do personal appearances at public Sesame Street events.

Bob was born in Ottawa, Illinois on June 13th, 1932. He studied music at the University of Michigan and the Manhattan School of Music. He married his wife, Ann Logan Sperry, in 1958 and the couple had 5 children and 8 grandchildren. He is survived by his loving family and will be missed by the generations of children he reached and helped lead with Sesame Street.