The performance in question for the 40-year-old musician was at the Commonwealth Day service last year, which was the Duke and Duchess of Sussex’s final event as senior royals.
David discussed his experience at the event for the latest episode of the Jonathan Ross Show which will broadcast on ITV this weekend.
He commented: “I performed at Westminster Cathedral. [There was] a lot of tension going on at that period of time.”
The singer-songwriter continued: “Harry and Meghan were there. I went to sing for the Commonwealth celebrations.”
David said that he still remembers walking up as part of the procession, noting that the Queen was watching. He then reminded viewers that he gave an acoustic performance.
He said: “The moment she looked up and that moment of acknowledgement … the full vibes. Everyone in the family.”
The Grammy Award nominee added: “I always talk about how music is healing and a form of therapy. I could feel it cut through. There was a part where Harry looked up, Meghan looked up, I felt it really landed in their hearts.”
Further commenting on the experience, he said: “It felt like that was the one moment where I was able to witness that.”
The upcoming episode of the Jonathan Ross Show, to be broadcast this weekend, also features Sir Elton John, Judi Love, Rob Brydon and Michelle Keegan.
Speaking about her experience at the Royal Variety Performance, Judi said: “It was such an amazing feeling. I had to kind of clean [my material] up a bit. I wasn’t allowed to say the word gynaecologist. I don’t know [why].”
The Strictly Come Dancing alum also commented: “William is cute you know. Kate you’re lucky. [And] she’s so stunning, so naturally beautiful.”
The Jonathan Ross Show continues on Saturday (December 4) at 10.30pm on ITV. Catch up through the ITV Hub.
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