‘Book of Mormon’ Co-Creator Robert Lopez Is Living the Dream (Video)

"Book of Mormon" co-creator Robert Lopez had a dream come true when he signed on to work with "South Park" creators Matt Stone and Trey Parker

"Book of Mormon" co-creator Robert Lopez had a dream come true when he signed on with "South Park" creators Matt Stone and Trey Parker for the musical satire about young Mormons on a mission to Africa.

"Matt and Trey and I started this together; it was so much fun to get to work with my heroes," he said. "They inspired me."

In fact, he says, "They inspired me for my whole career. I would have never done 'Avenue Q' if not for 'South Park.'"

Lopez shared the 2004 Tony Award for Best Original Score for "Avenue Q," a musical he created with Jeff Marx and Jeff Whitty that starred Muppet-like puppets.

So while he's now no stranger to Broadway premieres, he found the opening at the Pantages Theater in Hollywood Wednesday to be unlike any other.

Also read: Matt Stone and Trey Parker 'Book of Mormon' Movie: 'It's Pretty Far Away' (Video)

"It felt like a movie premiere in a weird way," he said. "It's a huge theater, and the cast was great," he said. "It was electrifying."

Up next for Lopez is the music for "Frozen," a new animated Disney "princess" film, featuring the voices of "Wicked" and "Glee" star Idina Menzel and Kristen Bell.