The comedian, 44, told Lorraine on today's show: "I do the voice of police officer Panda in Peppa Pig and she loves Peppa Pig but she didn’t notice it was me. I told her it was me. She was unimpressed.”
The star, who is married to Victoria Coren Mitchell, also hinted that Peep Show may return – but not for a long time.
He revealed: “Peep Show, we now felt we’re now middle-aged men, we can’t play young men just after university anymore.
"We’ve always said maybe in 20 years’ time we’ll return to them and see what’s happened, or maybe 40 years’ time when they’re in an old people’s home.”
David – who is appears in new BBC2 sitcom Upstart Crow – was first revealed to be joining the Peppa Pig cast in December 2016.
Shortly afterwards on the show it was revealed that Kaz Crossley has returned to her day job as a professional make-up artist less than two months after leaving Love Island.
The girlfriend of Josh Denzel, who she met on the popular reality TV show, performed a tutorial.
Before Kaz, 23, demonstrated how to use highlighter, host Lorraine Kelly said: "You'll remember Kaz from Love Island.
"She spent the summer in the sunshine in Spain, but now she is returning to her previous job as a make-up artist."
The cameras then panned to a pre-recorded segment where the reality star explained: "Hi guys, as you know I was on Love Island, and I was known for my glowy, sun-kissed skin."
She then introduced her models: "I've got my really good friend Rachel, and Heidi who is one of Lorraine's regular models."
It comes after Kaz revealed last month that famous faces have been sliding into her DMs since she left the villa.
The make-up artist said celebrity admirers had been trying to crack on, despite her being with boyfriend Josh Denzel.
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