It's "A Whole New World" with Goofy & Pepe!

On a recent Disney Cruise, Bill Baretta, who performs Pepe, and Bill Farmer the voice of Goofy, serenaded the audience with their rendition of "A Whole New World" from Aladdin. 

Luckily someone not only captured the magic, but synced it up with the original scene from the film. You can see all the pure muppety bizarreness below: