"I never thought I'd be on Sesame Street with Elmo and Big Bird, and I was thrilled. I'm still thrilled. I'm on a high,' the first lady informed a gathering of UN staff just after filming.
The appearance, characterised by her warm, natural style, was to promote healthy living – one of Michelle's missions since entering the White House.
Asked by her furry friend what she wants to do on Sesame Street the mother of two replies: "First I want to get some exercise so I want to take a walk around Sesame Street."
Delighted at her suggestion, Elmo declares: "Well if Mrs Obama exercises, Elmo wants to exercise too. Yay, exercise!"
He appears similarly enthused over her suggestions about that they read and eat a healthy lunch.
Then Michelle - who this week charted ahead of the Queen in her debut on the Forbes power list - turns to the camera and addresses parents.
"If you want your child to have healthy habits, practice healthy habits because you're your child's best role model," she tells them.
The first lady doesn't have too much time to speak to viewers at home, before her new friend, grabs her hand and pulls her away, saying: "Come on Mrs Obama".