David appears in the series Foyle's War in an episode called A Lesson in Murder which aired November 10, 2002. Oliver Ford Davies, who played Polonius in Hamlet and Holofernes in Love's Labour's Lost with David during the RSC 2008 season, appears in the episode and so does Honeysuckle Weeks, who is in the same episode of The Bill as David, called Deadline.
The other person you might recognise in the episode is Sophia Myles! In case you have been attending a Hermit's United convention, she plays Madame de Pompadour in the Doctor Who episode The Girl in the Fireplace.