The comedian performed his "Picking Up The Pieces" stand-up routine in front of a crowd filled with doctors, nurses and first responders from the Robert Wood Johnson University Hospital, where Tracy was treated after his near-fatal car crash in 2014.
In an interview with People magazine, the comedian explained why the performance meant so much to him.
"Last night was one of the most special nights of my life," Morgan said. "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."
Morgan, 47, was seriously injured in a car crash in June 2014, which killed his friend Jimmy Mack and left the "30 Rock" star in a coma.
The State Theatre is located just two miles away from the hospital where he was treated.
After the show, Morgan invited all of the hospital employees in the audience backstage to his dressing room to take photos and get hugs from the comedian.
The "Saturday Night Live" star also donated all of the proceeds from his New Jersey performance to the Robert Wood Johnson University Hospital.
"These people are heroes and I love them all from the bottom of my heart," Morgan said. "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."