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Together, Gloria Estefan and her husband Emilio Estefan have sold over 100 million albums and earned a combined 26 Grammy awards. On Monday, they joined the TODAY show to talk about the success of the musical “On Your Feet,” the Broadway show that tells the story of their lives and careers, and the new original cast recording of the musical, which will come out Friday, April 29.

"As a singer, I can tell you that there is no way that you can match a performance in a studio as opposed to the stage," Gloria said about the new original cast recording of the musical, "You're in it, we wanted to capture that magic because it's such an alive show."

The couple also talked about experiencing the show from the audience and how their daughter, Emily, had an unexpected involvement with the production.

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