When we asked them both to come on this morning's programme, we had no idea how well they'd hit it off.

But Phil Collins and Robert Palmer turned out to be soul mates.

The two musicians hadn't met before - but we discovered they have very similar views on performing - and on critics.

Robert Palmer joined us first, hot-foot from finishing his latest album yesterday evening, in South London. He revealed that his son plays drums on some of the tracks.

Then, Phil Collins arrived on the sofa - and the two giants of rock discovered how much they have in common - from their likes and dislikes in music, to what they think of the critics.

click here to watch Robert Palmer and Phil Collins