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Robbie Williams and Gary Barlow have been speaking about how it felt to share the same stage for the first time in 15 years.

Williams joined the rest of Take That on stage for a Children In Need charity concert at London's Royal Albert Hall.

Speaking after his performance, Williams said he was welling up before joining Take That on stage and he wanted to "milk" the moment for a bit longer with Barlow saying it felt familiar to be back together.

It'll be broadcast on Â鶹ԼÅÄ One on 19 November.

"It's been lovely. There's a good excuse to be on the Albert Hall tonight. It feels like, this last year, we've had Rob back in our lives.

"Here we are on stage and let's hope it's the beginning of more of it.

"We pretty much wanted to introduce Rob. That was the big thing for us on the night. Also we're hoping someone got a picture tonight because we haven't had a picture taken for about 13 years, the five of us together.

"We wanted to give people the opportunity of getting that and seeing that. We have invited Rob back into our lives and it's been lovely to have him being a part of what we're doing again. It was fun, real good fun.

"I was emotional as well. It was so nice to have the five of us all in a line. It felt very safe and very familiar somehow."

"The boys came on and they did Greatest Day. I wanted to get on and put a microphone next to them and sing it because I love the tune and love the boys.

"I knew we were going to all stand on stage for the first time in 15 years. Then I started to tear up waiting to go on in the wings. I went out and stood in the middle of the lads and the place went ape.

"We've got things planned. Or we're planning things. We want whatever that is going to be to make a 100% impact, whenever and whatever it is.

"Tonight's a very special night because it's Children In Need and that's why we all stood on the stage in the first place.

"But we want to make the most impact when something spectacular happens. We don't know what that is yet."