Robbie Williams made a triumphant return with his first full gig in three years last night in London.

The former Take That star rolled back the years with a career-spanning set, which included tracks from new album Reality Killed The Video Star.

Williams appeared to be on fine form following his much-criticised performance on The X Factor last week.

The singer shared jokes with the audience throughout his set at Camden's Roundhouse, including ahead of crowd favourite, Feel.

Introducing the song, he said: "This was my auntie's favourite and I'm sure she's looking down on me now. . . she's not dead, she's just really condescending!"

Williams was backed by a full orchestra, who helped embellish the string sections in Millennium and new single Bodies.

He also paid tribute to his renewed friendship with the four remaining members of Take That during the gig.

Williams' concert marked the opening night of the BBC's Electric Proms, which continues this week with performances from Dame Shirely Bassey and Doves.

Robbie Williams live at Camden Roundhouse: