Gary Barlow and Robbie Williams have performed together live for the first time in 15 years.

In a sign that their dark years were behind them, the reunited Take That stars embraced on stage in front of fans.

The duo sang to 60,000 people, including Prince Harry, at Twickenham Stadium in south west London in aid of the Help For Heroes charity which supports members of the armed forces. They sang their new single Shame which was written about their relationship.

Introducing Gary to the stage, Robbie said: “Have I got a treat for you, this is one of the most amazing moments in my professional career so far. It has been 15 years in the making. My wife calls him my boyfriend, I call him my captain, you call him Gary Barlow.”

The crowd cheered as the Take That frontman entered the stage and Robbie bowed down to him. The pair, who were both wearing black, hugged during the chorus.

Robbie, who was headlining the concert, said: “I am honoured to be a part of this show and to help draw attention to the amazing job done by our servicemen and women throughout the world. Their dedication to our country is phenomenal and we are all so proud of them.”

The concert also featured performances by Enrique Iglesias, James Blunt, Alexandra Burke, Pixie Lott, Plan B and The Saturdays.

Comedians including John Bishop, Jack Dee and Peter Kay also signed up to host the event which featured a guest appearance by Bruce Forsyth.

Free tickets were given to injured members of the armed forces and their carers.