He was also famous for playing Falstaff. In 1783, Stephen made his debut with his brother John in London. Contemporary critics acclaimed that in this role Kemble achieved the "optimum balance between comedy and gravity." After his performance in London at Theatre Royal, Drury Lane in 1802, the Morning Chronicle wrote that "It is to be regretted that his associations in the country prevent him from accepting a permanent engagement in London." Kemble would return to play Falstaff in London at Covent Garden (1806) and the Drury Lane (1816), for which he received great acclaim. After Kemble's death, The Edinburgh literary journal wrote, " Kemble was perhaps the best Sir John Falstaff which the British stage ever saw."