This is the infamous performance of “Light My Fire” by The Doors on The Ed Sullivan Show in September of 1967.
Jim Morrison and the band had been asked by the producer of the Sullivan show, Bob Precht, to alter the lyrics of the song so as to eliminate the phrase “we couldn’t get much higher.” Sullivan’s sponsors didn’t dig the idea that the song’s lyrics might suggest drug use. The band agreed to change the lyrics but come show time Morrison sang the lyrics as originally written. As a result, The Doors were banned from ever again appearing on The Ed Sullivan Show. As if it really mattered. The Doors were unstoppable and nothing, certainly not a TV variety show, was going to get in their way.
While The Doors banishment by Sullivan is an oft told tale, the video footage of the performance has only been available on the Internet in low quality truncated form. Here’s a good quality clip of the performance in full.