Late comedian Andy Kaufman made a number of appearances on Late Night With David Letterman (the precursor to Late Show), the most famous of which is his on air fight with the wrestler Jerry Lawler in 1982. But on January 7, 1983, Kaufman came back on the show to do something far less violent while being equally touching and funny: To tell his parents that he loves them, for the first time ever.

In a long segment that lasts nearly 20 minutes (Letterman used to have one 90-minute episode per month), Stanley and Janice Kaufman come out so that Andy can give them a very special message: “Mommy, Daddy, I never told you this before but I just wanna say that I love you both very much.”

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The clip appeared on YouTube on August 28 of this year, and as far as anyone can tell, it’s the first time it’s ever been put online. It’s a great find for fans of Kaufman, comedy, or anyone who just loves their parents. A little less than a year later, Kaufman was diagnosed with a rare form of lung cancer, and he died on May 16, 1984.