06/20/2013 01:58 pm ET

James Gandolfini On 'Sesame Street': 'Everybody Gets Scared Sometimes' (VIDEO)

We may have lost a legend with James Gandolfini's tragic, sudden passing, but the actor leaves a legacy of TV moments that make us laugh, cry, shudder and smile.

The official "Sesame Street" Twitter account shared a clip of Gandolfini's 2002 guest spot on the series where he comforted a frightened Zoe. "I know what it's like to be scared," the "Sopranos" star explained. "Everybody gets scared sometimes."

Watch the heart-warming clip above to find out what three things scared Gandolfini and to see one of the sweetest muppet hugs you could imagine.

The Best Of James Gandolfini On 'The Sopranos'