Don Quixote is mad... mad enough to dream an impossible dream while tilting after windmills with his trusty sidekick, Sancho Panza. Taproot's adventurous new staging of Cervantes' immortal classic reunites you with a story and songs that will capture your imagination and set you dreaming again. Quixote's romantic quest is as crazy as he is. But is his impossible dream madness or vision? The trial is about to begin. A Musical Play by Dale Wasserman. Music by Mitch Leigh & Lyrics by Joe Darion. Original Production Staged by Albert Marre. Originally Produced by Albert W. Selden and Hal James.