The talent show judge and the actress, who has Alzheimer’s, shared an afternoon tea.
David Walliams has described Dame Barbara Windsor as “unbreakable” as he revealed the pair have enjoyed tea together.
Last month it was revealed that the actress has been diagnosed with Alzheimer’s disease and been living with the illness since 2014.
David shared a photograph of himself and Dame Barbara, 80, seated next to each other as he wraps his left arm around her and uses his other to hold her hand.
He wrote on Instagram: “Afternoon tea with the woman of my dreams ever since I was a boy, the unbreakable Dame Barbara Windsor.”
In the photograph, the former EastEnders star is resting her head on David’s shoulder and the pair are smiling widely.
David shared the same picture on Twitter, writing: “Afternoon tea with a legend.”
In May, Dame Barbara’s husband Scott Mitchell said she had been taking medication to manage her condition but that symptoms had worsened in recent weeks.
She and David have been close friends for years.