The guitarist joined the former Beatle for a rendition of the Liverpool band's hit 'Get Back', as part of McCartney's trio of tour dates across the UK this month.
McCartney played a number of his classic songs at the packed-out venue including Beatles favourites 'Ob-La-Di, Ob-La-Da', 'Hey Jude', 'Let It Be' and 'Yesterday'.
He also treated the crowd to his Wings anthem 'Live and Let Die' and ended the 35-song setlist with a medley of 'Golden Slumbers' and 'Carry That Weight'.
The iconic performer will play two further dates in the UK, including a night at Manchester's MEN on December 19 and a homecoming gig at Liverpool's Echo Arena.
McCartney recently confessed that he suffers from a recurring nightmare that sees him playing a gig with The Beatles, only for the crowd to walk out on them.
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The full setlist for Paul McCartney's London show was as follows:
'All My Loving'
'Drive My Car'
'Sing The Changes'
'Let Me Roll It'
'Long and Winding Road'
'Come and Get It'
'Maybe I'm Amazed'
'I've Just Seen A Face'
'Band on the Run'
'Back in the USSR'
'I Gotta Feeling'
'A Day in the Life'/'Give Peace A Chance'
'Let it Be'
'Live and Let Die'
'The Word'/'All You Need Is Love'
'Get Back' (joined by Ronnie Wood)
'Golden Slumbers'/'Carry That Weight'