It's not on DVD in the US (yet). The song is from the Paul Williams episode of the Muppet Show. If volumes 16-20 do happen, it's likely Paul Wililams would be in the mix in my opinion. The song was on one of the 1985 Playhouse videos and I think it was on one of the 1993 Disney Muppet Show compilation videos. I'm sure someone will jump in here with the actual titles so that you can track it down or see if you have it in your collection.