Robin Williams describes his heaven

Video of the late Robin Williams describing what he hoped the afterlife would be like has resurfaced.

In the 2001 clip of Williams on Inside the Actor's Studio, host James Lipton asks the Oscar-winning actor, "If heaven exists, what would you like to hear God say when you arrive at the pearly gates?"

"The concert begins at 5. It'll be Mozart, Elvis, and anyone of your choosing," Williams replies, after a moment's contemplation.

He would also accept God telling him a joke, just so he would know that, if heaven is real, laughter is there.

"Just to hear God say, 'Two Jews walk into a bar'," Williams says.

Speaking to the US Today Show's Matt Lauer, Lipton recalled Williams' brilliant energy during the madcap marathon appearance, which ended up becoming the series' first two-hour episode – and a viewer favourite.

"His gift was the most mysterious of all gifts," Lipton said.

"It was genius. Genius is inexplicable. ... You can teach craft. You can teach technique. You can't teach genius.

"I have a suspicion, Matt, God is laughing right now."

READ MORE: Williams' daughter reacts to dad's death on Twitter 

Robin Williams' most memorable roles

Robin Williams' life in pictures

Sydney comics reflect on Williams' secret show 

Robin Williams' yet-to-be-released movies 

Tortured soul of a comic genius 

* Readers seeking support and information about suicide prevention can contact Lifeline on 13 11 14.

Source: US Today Show
Author: Chloe Ross, Approving editor: Martin Zavan