The Torkelsons

Elmo made a guest appearance, presumably in a fantasy sequence, during an episode of a NBC family sitcom starring Connie Ray, Olivia Burnette (both alums of NBC's Quantum Leap) and a young Brittany Murphy.

During the first season (1991-92), the show was called "The Thorkelsons." When it returned for a second - and final - season, as a midseason replacement in 1993, it was retitled "Almost Home."

It's unknown at this time which season or name of the show that Elmo appeared.