July 23, 2016 02:50 PM

Kate Beckinsale and David Walliams grabbed dinner in London at Scott’s Restaurant on Friday.

The 42-year-old actress wore a flowing halterneck white jumpsuit with gold platform heels. She accented the looked with gold dangly earrings – her brown hair pulled back in a high ponytail.

Walliams, a judge on Britain’s Got Talent, looked handsome in sleek navy suit and open-collared grey shirt. Beckinsale held the arm of the 44-year-old comedian – who appears to have grown out his grey beard – as the two exited.

The two have been friendly for years – since before either found fame – and have been spotted together on dinner outings over the past few weeks.

In 2009, he named Beckinsale and Australian singer Natalie Imbruglia as his “ideal woman” in an interview with The Guardian.

“When I’m with them I turn to jelly because they’re so exciting to be with,” he said. “But neither of them would ever go out with me, so I can’t.”

David Walliams and Kate Beckinsale
Gotcha Images/Splash News Online

Walliams married model Lara Stone in May 2010. The two divorced in September 2015, and have a 3-year-old son, Alfred, together.

RELATED VIDEO: Kate Beckinsale Has Separated From Husband Len Wiseman As He Is Spotted Stepping Out with Model

Beckinsale married husband Len Wiseman in 2004. The two separated in 2015.

The actress has a 17-year-old daughter, Lily Mo Sheen, with ex Michael Sheen.

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