The Party Like a Russian singer was joined on stage by Gary Barlow, Howard Donald and Mark Owen at a special BRIT Awards gig in London.
"Rob, whether you like it or not, you will always be a member of Take That," said Howard, as the foursome teamed up to sing Back for Good and The Flood.
Robbie Williams was joined by Take That on stage
Robbie, who left the band in 1995 to pursue a solo career, was honoured with the BRITs Icon award; he is the third artist to have ever received it after David Bowie and Elton John.
The dad-of-two previously won the BRITs lifetime achievement accolade in 2010.
Speaking to HELLO! Online and other media outlets at a press conference on Monday, Robbie poked fun at himself saying: "First Elton, David Bowie, now this chav from Stoke-on-Trent! I am honoured that it is me and I'm glad that it isn't going somewhere else. Those two people were absolute legends and absolute icons and now I'm getting it and I'm honoured."
He added: "My mum's really excited, she's been to Selfridges and got an outfit. I'm sure that somewhere in Kensington there's someone from Stoke-on-Trent drinking champagne! It's going to be a big night! I'm really looking forward to it."
The singer is the third artist to be honoured with the BRITs Icon award
Robbie also teased that he is considering a Take That reunion some time in the future. He wasn't clear on whether he would rejoin the group for their 25th anniversary in 2017.
"I don't know if it would be easy," said Robbie. "Right now I don't think it would happen but at some point there will definitely be a reunion!"
The Feel singer left the band more than two decades ago. The rest of the group got back together in 2006 but in 2014 Jason Orange left.
Robbie temporarily rejoined Take That for their Progress album and tour in 2010.
He is set to go on tour in 2017 embarking on a series of concerts across Europe, with seven dates scheduled in the UK.