I agree with everything that's been said here. I also own that dvd and it really makes you mad to see how those amazing musicians never got any credit.
I started learning bass a few months ago and it was my bass teacher who introduced me to James Jamerson, and from there, I got the dvd.
Here's a clip of Marvin Gaye playing with Jamerson. Don't know who the drummer is on this clip, but it's amazing.