The trio of music legends performed the Beatles song "Get Back" together Sunday at the O2 Arena. The concert was a part of McCartney's Freshen Up tour in support of his latest album, Egypt Station.
"I don't know about you, but that was a thrill for me," Starr said after the performance, Variety reported.
"I'm just going to let that moment sink in," McCartney added.
"Emma Thompson a couple of Beatles a stone and moi... kick [expletive] tonight dad x Stella," she captioned the image.
McCartney released Egypt Station in September where it became his first No. 1 album since 1982's Tug of War.