The Bodies singer and his former bandmates performed separate sets during a concert for Children In Need at the Royal Albert Hall.
But they reunited on stage for the grand finale - The Beatles' Hey Jude - along with the other acts on the bill.
Gary Barlow and Williams put their differences of the past behind them as they sang together with their arms around each other's shoulders.
Take That had opened the concert with their hit Greatest Day and raised the crowd's hopes of seeing the original line-up back together again.
"What a perfect night for us to introduce an old friend," Barlow told the audience of 4,500 people, randomly selected to receive tickets.
endlich hat er seine gatschfrisur nicht mehr
Zeebee03 1 year ago
amazoing
extriver 1 year ago
Robbie is the best!!!!!
bbaarriigga 1 year ago
I am so jealous!!!!
irena2009 2 years ago
do be so hard on yourself, come on now.
irena2009 2 years ago
This comment has received too many negative votes show
Fat washed up tit.
heatdeb 2 years ago
i went to the concert it wos fab
ToddickalT 2 years ago 2