Bill Cosby and Tempestt Bledsoe dancing on stage with Late Night host Jimmy Fallon. (Source: AP Images)

It’s been long overdue, but Bill Cosby and his TV daughter Tempestt Bledsoe finally had a one-on-one reunion on “Late Night with Jimmy Fallon” Friday night, proving the two haven’t lost their chemistry in the 20 years since “The Cosby Show” went off the air.

In a stroke of pure genius, Jimmy had both “Cosbys” on to promote their current projects. Bill was there to talk about his new book, I Didn’t Ask To Be Born, while Tempesst was discussing her new NBC sitcom, Guys With Kids. Since Jimmy is the producer of Tempestt’s show, it only makes sense that he organized this on-air reunion last Friday. At 75, Bill didn’t miss a beat when it came to the jokes during his segments, like when Tempesst said that the two of them get together often. He told her not to lie, joking:

“Sometimes my checks are late and that’s when I see Tempestt.”

See what I mean?

Overall, it was clear Bill wasn’t just a TV dad to the kids he saw grow up on his show. Check out clips of their interview below.