Although his increasingly lucrative career was beginning to bring him international attention, the amount of time away from his family and friends led him to live and perform only in western Pennsylvania.

Costa served as musical director, arranger, and keyboardist for the children's television series Mister Rogers' Neighborhood from the show's debut in 1968 until his death in 1996.

Costa accepted the job without hesitation because it wouldn't require him to travel away from Pittsburgh, and because Rogers offered him the same amount he needed to pay his son's college tuition ($5,000).

Each day, Costa and his trio (Carl McVicker Jr. on bass, Bobby Rawsthorne on percussion) played live in the studio for the filming.

In addition to the show's recognizable main theme, they played the trolley whistle, Mr. McFeely's frenetic Speedy Delivery piano plonks, the vibraphone flute-toots (on a synthesizer) as Fred fed his fish, dreamy celesta lines, incidental music, and Rogers' entrance and exit tunes.