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The veteran actor plays Detective Geordie Keating in ITV's 1950s crime-fighting series.
And on Tuesday, Robson Green, 56, reunited with his on-screen wife Kacey Ainsworth, 52, on the set of Grantchester, in Cambridge.
The former popstar and the ex-EastEnders actress - who plays Cathy Keating - opened their arms up wide as they went in for a warm embrace.
They're back! On Tuesday, Robson Green, 56, reunited with his on-screen wife Kacey Ainsworth, 52, on the set of Grantchester, in Cambridge
Kacey oozed vintage glamour in a white short-sleeved blouse which boasted pretty bow cut-out detailing.
Robson looked dapper with black braces and matching tie worn over over a crisp white shirt.
While filming different scenes, the actor sported a brown pinstripe suit and a camel coloured overcoat.
Meanwhile, Tom Brittney, 30 - who plays Reverend Will Davenport - was spotted taking charge of the show's seventh series during filming, as he makes his directorial debut.
Cute: The former popstar and the ex-EastEnders actress - who plays Cathy Keating - opened their arms up wide as they went in for a warm embrace
