Joseph, 78, handed over leadership of Ladysmith Black Mambazo to his son Sibongiseni Shabalala five years ago. Joseph's ailing health meant he could no longer travel.
Sibongiseni, his brothers Thamsanqa, Msizi and Thulani Shabalala, and the group's oldest member, Alfred Mazibuko, are still part of Ladysmith Black Mambazo and contributed to the musical, meeting producers to share stories of Joseph's life.
Sibongiseni said his father was honoured by the production.
"My father's only goal in life was to share his love of isicathamiya [a traditional Zulu style of harmony-driven singing and dancing] with the world. He told us to be true to who we are and we have never been allowed to forget it.
"He had to work from a young age to make sure his family could afford to stay on the farm they were on, so he didn't get the education he wanted at the time. Still, he was told by his father that he would be educated one day and look how he has educated the world through his music."