I have been very curious about how Yoda died. All I remember is that in the last movie before they came out with the Force Awakens, Yoda is in his little pod and is talking to Han Solo (or at least I think it was Han Solo) before he gets in his pod and disappears.
Yoda dies of old age in Episode VI, Return of the Jedi. This is the last movie of the original trilogy, but it was released long before the last movie made before The Force Awakens, because the story has not been released in chronological order.
Yoda is in his home in Dagobah, meeting with Luke, and dies in his own bed.
What you've seen might be something from Revenge of the Sith (which features Yoda talking to Chewbacca before getting into a pod) but chronologically takes place before the events of Return of the Jedi.
The clip of Yoda's death can be seen below