Velez had never puppeteered before joining the Jim Henson Company. In Henson puppeteer workshops starting in the 1980's he was taught and trained in the art of puppetry by Richard Hunt, Jane Henson, Jim Henson, Frank Oz, Kermit Love and Caroll Spinney.
In-house company training and Velez's ability to mimic voices has led him to audition for opportunities to backup the established Muppet characters.
- The Muppets: A Celebration of 30 Years
- Sesame Street: 20 and Still Counting
- Monster Hits!
- Don't Forget to Watch the Movie
- Do the Alphabet
- Imagine That!,
- A is for Asthma Dani
- Elmo's World: Wild Wild West!
- Macy's Thanksgiving Day Parade 2002 Samson (puppetry only) (U.S. version)
- Macy's Thanksgiving Day Parade 2006 Herry Monster (puppetry only)
- Elmo's Christmas Countdown