Newly-reunited Take That stars 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, Williams and Barlow 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 Barlow to the stage, Williams 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 Williams bowed down to him.