The Muppets house band Dr. Teeth and the Electric Mayhem made their live debut at San Francisco’s Outside Lands festival this past weekend. The 25-minute set featured covers of the Band, the Beatles, and Edward Sharpe and the Magnetic Zeroes. Dr. Teeth and co. were joined by the Oakland Interfaith Gospel Choir for the finale, “With a Little Help From My Friends.” Watch the full set below.

Read our brief interview with the Muppet drummer Animal, and revisit our list of the Muppets’ best musical moments.

Correction: An earlier version of this story contained an incorrect name for the choir that accompanied the band at Outside Lands. It is the Oakland Interfaith Gospel Choir, not the Oakland Tabernacle Choir.