The audience at the State Theatre was full of the doctors, first responders and nurses who took care of Morgan at the Robert Wood Johnson University Hospital after his accident in June 2014.
"Last night was one of the most special nights of my life," Morgan told PEOPLE exclusively. "To be standing on stage with the people that saved my life in the audience was an overwhelming experience. I will never fully be able to thank the doctors, nurses, first responders and everyone else that got me back on that stage enough.
"These people are heroes and I love them all from the bottom of my heart," he continued. "The only good thing that happened on that horrible night was that I was close to Robert Wood Johnson Hospital when the accident happened. God Bless them all."
Following his performance, Morgan invited the hospital employees in attendance to come backstage to his dressing room for pictures and hugs.
Morgan donated all of the show's proceeds to the Robert Wood Johnson University Hospital.
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Morgan recently opened up to Rolling Stone about his difficult road to recovery after the fatal multi-car crash left him seriously injured.
"I was in a very dark place," he said. "I was sitting right here, contemplating suicide. I couldn't walk."
The 30 Rock star credited his wife Megan Wollover, 29, and their daughter Maven, 2, for giving him the will to recover.
"It's gonna take more than 18 wheels for me to get out of here," he said. "I have to raise my girl, raise my wife, raise my family."