You Gotta See Mandy Moore and Milo Ventimiglia Sing ‘The Fresh Prince of Bel-Air’ Theme Song

2016 marks a big anniversary for This Is Us actor Milo Ventimiglia. It’s his 21st year in the business, which began in 1995 as Party Guest #1 on the ’90s sitcom The Prince of Bel-Air. (You’ve come a long way, Milo!) The episode? “Bourgie Sings the Blues.”

“That was my first paying gig,” Ventimiglia proudly told Glamour on a recent trip to the set of This Is Us. “Will Smith treated me like a member of the family, and I will never forget how inclusive he was of everybody on the crew [and] everybody that was guest cast. He knew everyone’s name, and that [taught me to] respect the entire process and get to know everybody.”

Ironically, Ventimiglia shares a birthday with Smith’s son, Jaden. So when we were on the set recently with Ventimiglia’s co-star Mandy Moore, we decided to test the actor’s knowledge of that very catchy theme song. We must admit, this is pretty epic.

Watch, below:

“I was a fan of the show,” joked Ventimiglia (in case any of you doubted). “Who wasn’t?!” echoed Moore. We have only one thing to say: Will Smith, you owe these guys a cameo.

This Is Us airs Tuesday nights on NBC at 8 P.M. ET.