The guitarist and drummer of the legendary psychedelic rockers joined Roger for his solo concert rendition of the group's 'The Wall' album at London's The O2.
David joined the show to play guitar on the track 'Comfortably Numb', and Nick was added to the line up during the final song 'Outside the Wall', playing tambourine.
The concert features a huge wall being built in front of the crowd, from the top of which David played his final solo, as he did during the band's original 'The Wall' in 1980 and 1981.
The show marks one of only two occasions the three surviving members of the band's classic line up have appeared onstage together since Roger left the band in 1985, starting a bitter battle between him and David over use of the Pink Floyd name, which Roger eventually lost, allowing the group to continue without him until 1996.
Since then the group reunited for a one-off charity concert for LIVE 8 in 2005, while last year Roger and David played together at a Hoping Foundation benefit.
David's one off appearance at 'The Wall Live', is a return of a favour, after Roger appeared with him at the benefit show, playing Phil Spector's 'To Know Him is to Love Him'.
Roger explained in a post on website Facebook: "Someone, I think it was David himself, came up with this 'Wouldn't it be funny', idea. What if he (David that is) were to sing the old Teddy Bears song 'To Know Him Is To Love Him' with me (Roger that is), what with us having been so famously at each other's throats for years and years.
"Some weeks passed with David cajoling me from time to time, telling me how easy it would be, until one day he made one final entreaty.
"I quote 'If you do 'To Know Him Is To Love Him' for the Hoping Foundation Gig, I'll come and do 'C. Numb' on one of your Wall shows". Well! You could have knocked me down with a feather. How f***ing cool! I was blown away. How could I refuse such an offer. I couldn't, there was no way."
While Roger has said he would like the band to continue for a short reunion tour, David refuses to consider it and a note posted on his official fan blog yesterday (11.05.11) confirmed his appearance at 'The Wall Live' show was a one off.
The post read: "I should also remind you that tonight is most definitely a one-off. David is not repeating his special guest performance at a later occasion, I'm sorry to disappoint those of you with fingers crossed and tickets for later shows."
Roger Waters remaining 'The Wall Live' UK dates:
May 14 - London O2 Arena
May 15 - London O2 Arena
May 17 - London O2 Arena
May 18 - London O2 Arena
May 20 - Manchester Evening News Arena
May 21 - Manchester Evening News Arena
June 27 - Birmingham NIA
June 28 - Manchester Evening News Arena