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Matt Lucas seen in character for the first time on the set of Doctor Who as he films new scenes alongside Peter Capaldi and newcomer Pearl Mackie

Published: 08:38 EST, 27 June 2016 | Updated: 10:06 EST, 27 June 2016

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He revealed he was ecstatic to be returning to the show as a regular, following his one-off appearance in the Doctor Who Christmas Special.

And as he arrived on set to film scenes for the new series of the BBC hit, Matt Lucas looked to be delighted to be reprising his role of Nardole, and was seen chatted away to Peter Capaldi on the set.

Currently on-location in Cardiff to shoot series 10 of the new Doctor Who, the 42-year-old comedian was seen enjoying a laugh with the show's 58-year-old star in-between takes at Cardiff University.

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Look who's back! Arriving on set to film scenes for the new series of the hit BBC show, Matt Lucas looked to be delighted to be reprising his role of Nardole, and was seen chatted away to Peter Capaldi on the set

Clad in a rust coloured duffel coat, black trousers and brown brogues the Little Britain star looked to have been given a wardrobe to fit in with the rest of the cast - rather than make him stand-out.

Matt is reprising the role of the King Hydroflax's out-of-control robot bodyguard Nardole, first seen in the 2015 Christmas special, and it looks as though the cyborg hasn't changed his clothes - bar the woolly hat he was last seen sporting.

Peter - the twelfth incarnation of the iconic Doctor - was in his usual get-up, sporting his signature black brogue boots and dark navy suit beneath a black overcoat and hoodie.

Currently on-location in Cardiff to shoot series 10 of the new Doctor Who, the 42-year-old comedian was seen enjoying a laugh with the show's 58-year-old star in-between takes at Cardiff University

Bill's back! But it wasn't just Matt and Peter getting into scrapes in the scenes, as Pearl Mackie was also out in full-costume at the University campus

With his greying hair combed back into the Doctor's usual windswept affair, the former Thick Of It star was instantly recognisable.

But it wasn't just Matt and Peter getting into scrapes in the scenes, as Pearl Mackie was also out in full-costume at the University campus.

The 29-year-old actress form Brixton plays Bill, The Doctor's newest assistant - having replaced Jenna Coleman in the famous position.

Ready for action? Clad in a pair of ripped skinny jeans, a sleeveless cropped tie-dye shirt and purple trainers, the actress showed off her taut and toned tummy and lithe legs

Clad in a pair of ripped skinny jeans, a sleeveless cropped tie-dye shirt and purple trainers, the actress showed off her taut and toned tummy and lithe legs.

Carrying a satchel and hoodie, it appears that the Doctor's latest companion may be undercover in the scenes.

But it seems that Bill has an extensive wardrobe with her on the TARDIS, as she was seen in a fresh outfit later on in the day; shooting more scenes in a white tee, denim jeans and trainers.

Speaking before joining Peter and Pearl on set in Cardiff, Matt said he was 'chuffed' to be returning as a permanent member of the Doctor Who cast.

Room in the TARDIS for a wardrobe? It seems that Bill has an extensive wardrobe with her on the TARDIS, as she was seen in a fresh outfit later on in the day; shooting more scenes in a white tee, denim jeans and trainers

In a statement the overjoyed star said: 'I'm chuffed to bits that Nardole is returning to the TARDIS for some more adventures. I loved acting with Peter and I'm excited to work with Pearl.'

Doctor Who's lead writer and executive producer Steven Moffat admitted he is 'delighted' to welcome back the London born star.

He said: 'Delighted and slightly amazed to be welcoming Matt Lucas back on to the TARDIS - and this time it's not just for Christmas, he's sticking around.

'One of the greatest comedy talents on planet Earth is being unleashed on all of time and space.'

The opening episode of series 10 has been written by Steven, executive produced by Brian Minchin, produced by Peter Bennett and directed by Lawrence Gough.

Fans will no doubt be overjoyed to see the return of the show which will kick off with a Christmas special in December before the new show airs in 2017.

Coming to screens soon! Fans will no doubt be overjoyed to see the return of the show which will kick off with a Christmas special in December before the new show airs in 2017