The "Angels" star teamed up with Gary Barlow, Mark Owen, and Howard Donald, for the Compare The Meerkat concert on YouTube, and joked about his late arrival as he tried to beam in from Los Angeles, where he is self-isolating with his wife, Ayda Field, and their kids.
"I'm here now," he joked as he appeared onscreen. "Last time, I was 15 years late."
Robbie left the band in 1995 but he has rejoined for occasional performances - the last one in 2018.
He joined the trio for a performance of band classics like "Back for Good", "Shame," and "Never Forget", while wearing an eye-catching pink leopard print blazer.
The bandmates also chatted about their lockdown experiences, with Donald revealing he's tired of reading children's stories to his kids.
"I've read more books than in my life," he grumbled.
Fans were clearly stoked to see the quartet back together even though another former bandmate, Jason Orange, was a no-show, with many taking to social media to rave about the virtual reunion.
One fan tweeted, "Free Take That concert, this is the best evening ever," while another user added, "Loved watching you all together again, was a real tonic I needed. Thanks guys."
Robbie previously joked about hiring a private detective to track down Orange.
Speaking on his "At Home with The Williamses" podcast earlier this week, he said, "None of us know where he's gone. I should hire a private detective. He finds out where Jason Orange is, we inject him with a beeping thing, a chip, then we know where Jason is at all times."