If Roberts and Brooks managed to eat each disgusting starter, main, pudding and drink of the trial, they received one delicious starter, main and pudding for their meal back at camp.
Roberts went first, and was served 'Deep Fried Camel-Bert' - camel penis - which she at first struggled to eat. However, Brooks encouraged her by telling her to think "happy thoughts".
After eating the camel's penis, Roberts remarked: "It's real hard, it's real tough. Oh my God, I ate a camel's penis."
Brooks was then given 'Witchetty Grub Wrong-ton' for her starter.
The EastEnders actress was told she must eat the live witchety grub. She said: "Oh my God, it's moving. I want to eat the camel's penis. It feels horrible. This is my worst nightmare."
She retched, but finally finished the meal, telling Ant and Dec: "I feel so proud."
[Charlie Brooks distraught on hearing that her daughter Kiki had been just metres away from her]
For the main course, Roberts was served a paella with raw fish eyes, and Brooks a quiche topped with a pig brain, which they both managed to eat.
The Pussycat Doll's dessert was 'Death by Cocklate', or a chocolate cake accompanied by live cockroaches, and Brooks' had to consume 'Tur-Key Lime Pie' - a pie made of vomit fruit with slime and turkey testicles on top.
After managing to eat all the 'meals', the girls received the maximum amount of stars. As they were walking back to camp, Brooks whispered to Roberts that she had sweat in the lower region of her trousers.
The girls' 'Final Feast' back at camp was made up of nachos, battered prawns, fajitas, burritos, chocolate vanilla ice cream, apple crumble, beer and margaritas.
Charlie Brooks was crowned the Queen of the Jungle during tonight's final.
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