The Hancock actor uploaded a photo of the cast to his official Facebook page that featured himself, Karyn Parsons (Hilary), Tatyana Ali (Ashley), Alfonso Riberio (Carlton) and James Avery (Uncle Phil).
Missing from the reunion were Janet Hubert-Whitten and Daphne Maxwell Reid, who both played Vivian Banks, and Joseph Marcell, who played the Banks family's British butler Geoffrey.
The group was attending a luncheon for Parsons's charity Sweet Blackberry last week, according to TMZ.
Tatyana Ali revealed earlier this year that a series reunion is currently under discussion.
The Fresh Prince of Bel-Air aired from 1990 to 1996 on NBC.
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Watch the intro for The Fresh Prince of Bel-Air below: