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Raposo was one of the staff songwriters on Sesame Street, and the song became one of the most popular on the program, sung in English, Spanish, and sign language. In its initial appearance, it was sung by adult human cast members of the show and Muppets, including Big Bird. Barbra Streisand's 1972 version of the song was released as a single, reaching number 28 on the Easy Listening chart and number 94 on the Billboard Hot 100. Although Barbra Streisand had an Easy Listening hit in 1972 with "Sing", Karen and Richard Carpenter heard the song for the first time in 1973, loved it, and felt it could be a hit. It acted as their debut single from the LP album Now & Then, released in 1973. It reached number three on the Billboard Hot 100 chart and number-one on the easy listening chart, and it became the group's seventh gold single. As an iconic Sesame Street song, the song was used to close many of the show's anniversary specials, including Sesame Street: 20 and Still Counting, Sesame Street's All-Star 25th Birthday: Stars and Street Forever, Sesame Street: Unpaved, and Sesame Street's 25th Birthday: A Musical Celebration. It was used for the title of the 1990 documentary that eulogized Raposo, Sing! Sesame Street Remembers Joe Raposo and His Music.