This speech was given as David accepted the Goldwater Award for his father in 1997. Milton was apparently unable to make it for health reasons, though he did call in. The award ceremony was MC'ed by US Rep (R, OK) J.C. Watts, who did a wonderful speech that I only wish were more true than it is, as did Arnold Schwartzenegger, and there is a good video of Milton himself on the c-span clip.
But none of it holds a candle to David's stories of growing up as Milton Friedman's son. The guy got fathering right.
I have David's book, Hidden Order: The Economics of Everyday Life. It reads like he talks: witty, mischievous, informative.