By Megan Daley
Updated September 14, 2015 at 09:22 PM EDT

As ABC prepares to take Kermit and the gang to the small screen with The Muppets this fall, PBS looks back on the life of Jim Henson, the legendary creator who started it all.

For PBS’ In Their Own Words series, Henson’s upcoming episode incorporates archival footage as well as interviews with best friend and longtime collaborator Frank Oz, as well as Neil Patrick Harris and numerous other family members and friends.

In this exclusive clip, Oz discusses his tight bond with Henson, as Henson took him under his wing in order to mentor the budding puppeteer.

“Jim was extraordinary in that he would always allow me to voice my opinion,” Oz says. “I think he should’ve fired me many times. He was extraordinarily patient. There was a closeness there that I can’t explain.”

Oz describes Henson’s “higher calling” to do good, and the documentary dives deeper into his vision, his life, and finally, his death in 1990. Check out the clip above.

Henson’s episode of In Their Own Words, airs Tuesday at 8 p.m. ET on PBS.


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