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Andrea Martin has appeared on Sesame Street in various capacities over the years. She guest starred as Edith Prickley for an episode in which Edith, as a shoe salesman, in which she helps Maria and Grundgetta buy a pair of shoes. During the story, she performs "Three of These Things Belong Together," with three pairs of boots and a pair of maroon shoes.
Martin as Edith was also Telly Monster's Fairy Godmonster in a late 1980s episode, in which she gives him a magic pencil. Edith would also appear, singing, in the celebrity-filled version of "Put Down the Duckie". She also appeared on Sesame Park in 1987.
Beginning in the early 1990s, Martin was featured regularly as "Wanda Falbo (Word Fairy)" in a series of sketches.
From 1998 onward, she has been regularly featured on "Elmo's World" as the voice of the Lecture Lady, featured on Elmo's TV. The Lecture Lady was modeled after Edith Prickley in some of her initial appearances.