The Angels singer has spent the last three weeks away from his family as a precaution after returning from Australia.
In the clip shared on Instagram, the couple’s seven-year-old daughter Theodora and son Charlie, five, can be seen waiting on the pavement as mum Ayda asks them “Who’s coming up the driveway?”.
As Robbie appears, both children run up ro greet him, as Theodora tells him “Daddy, I’ve missed you so much”.
Ayda captioned her post: “@robbiewilliams After 3 weeks…REUNITED!!!! So happy to have daddy home after separate quarantines #togetheratlast #quarantinelife #stayhome AWxx.”
Robbie and Ayda are also parents to daughter Colette (Coco), one, and son Beau, who arrived in February.
Both were welcomed via the same surrogate, with Ayda and Robbie choosing to keep news they were expecting on both occasions quiet, until their babies were born.
Meanwhile, Robbie has reignited his long-running feud with Liam Gallagher.
The pair have had beef with each other for the last twenty years, with Robbie famously offering to fight the former Oasis star at the 2000 Brit Awards.
In a new interview with The Sun, Robbie said: “The thing about Liam is he’s incredible. He’s an incredible singer — proper rock and roller. The world’s a better place for him being in it. He’s iconic. Sometimes you have to separate the art from the dickhead. And I can do that.”
This article originally appeared on HuffPost.