Fans of Disney’s Aladdin, you don’t want to miss this video. Last week, the original cast of the beloved film reunited 23 years to the day the film came out in 1992, and the original voices of “A Whole New World” performed the song live.

Lea Salonga as Jasmine and Brad Kane as Aladdin sang their parts, with Alan Menken joining them on the piano, for the first time in two decades.

Scott Weinger, who voiced Aladdin, Linda Larkin, who voiced Jasmine, Jafar’s Jonathan Freeman and co-writers and directors Ron Clements and John Musker were all on Good Morning America as well.

ABC also aired never-before-seen outtakes as the late Robin Williams as the Genie.

Supervising animator Eric Goldberg spoke of Williams on the show, recalling, “Aside from him being funny as anything, he was such a warm, person.”

Aladdin is getting a digital re-release with the Aladdin: Diamond Edition Blu-Ray combo, which will be available on Tuesday.