David appeared in the premiere episode of Randall & Hopkirk (Deceased) called Drop Dead. It aired on March 18, 2000. This is what he had to say about the filming while speaking to The Birmingham Post.
"I've always been a fan of Vic & Bob and Randall & Hopkirk was great fun to do. It only took about six days to shoot my bit of it. It was like being in an episode of Scooby-Doo, like running around in the playground again."
Also appearing in that same episode were:
Emilia Fox - worked with David on three voice projects, the animated film Free Jimmy, the BBC Radio play of Much Ado About Nothing and she is the second narrator on the audio book the Merlin Conspiracy.
Jessica Hynes - appears in Doctor Who with David twice, as Joan Redfern in the episodes of Human Nature and The Family of Blood and then again as Joan's great-granddaughter Verity Newman in The End of Time. She also co-starred with David in the BBC comedy/drama Learners.
Mark Gatiss - has worked with David many times including the radio play The Wooden Overcoat, which was adapted by Mark, they shared the big screen together in Bright Young Things on 2003. Then again in 2003 in the Big Finish audio Sympathy For The Devil and they were in the Doctor Who episode The Lazarus Experiment together. He also does the voice of one of the Scottish hunters in Free Jimmy with David and if that wasn't enough Mark also wrote the Doctor Who episode Idiot's Lantern!! They were also co-stars in the live TV presentation of The Quatermass Experiment in 2005. David also did a guest spot in Mark's Nebulous Radio series.
Steve Pemberton - appears in the series Blackpool, appears in the Doctor Who episodes Silence in the Library and Forest of the Dead as Strackman Lux and he provides one of the voices in Free Jimmy.