The comedian was photographed walking without a cane or assistance for the first time since a highway collision left him fighting for his life last summer.
Morgan, 46, and his family took his Rolls Royce to a car wash near his home in New Jersey during the outing. Last week, he was spotted driving a car, another sign that he's on the mend.
"I think I'm at 75 percent," he told PEOPLE last month. "I have my good days and I have my bad days … I just want to get better and become healthy."
Morgan said his fiancée Megan Wollover and their toddler Maven, 2, inspire him to work hard at recuperating.
"I want to walk my wife down the aisle," he said. "I am determined to play with my little daughter and chase her around."
The 30 Rock actor was left in critical condition in June 2014 after a Walmart truck crashed into his limo bus on the New Jersey Turnpike. He settled his lawsuit against the retail giant in May for an undisclosed sum.