Sesame Street legend, Bob McGrath has died aged 90, his family has announced.

He was one of the founding cast members of Sesame Street and played Bob on the children’s TV show for nearly 50 years. His family said that he died peacefully at home.

McGrath first appeared on Sesame Street in 1969, portraying the friendly music teacher Bob Johnson.

His daughter Cathlin McGrath disclosed to The Washington Post that her father passed away due to complications after a stroke. He was one of the longest-running human characters on Sesame Street along with Loretta Long, who played Susan Robinson.

His final episode, titled Having a Ball, was aired in 2017.