This cracked me up when I first saw it - it's a few years old, from the episode when Quagmire moves in with the Griffins. They want him to move out,and Peter says something like," I can't toss him on the street like a prom night dumpster baby" that leads into the clip.
Some people come into our lives and quietly go, others stay a while, and leave footprints on our heart, and we are never the same.