The comedian shared a snap of himself with his former Little Britain co-star both smiling with their arms wrapped around each other in front of their laptops.
He captioned the image: ‘Writing.’
Lucas, who has co-hosted the Channel 4 show alongside Noel Fielding since 2020.
The 48-year-old announced that his heavy workload was the reason he would be stepping down.
Meanwhile, Walliams, 51, was recently reported to have quit Britain’s Got Talent ahead of its 2023 series.
Last month, the children’s author was forced to apologise after being caught on a hot mic during a break in filming making disparaging comments about contestants, including an elderly one who he described as a ‘c***’.
Walliams and Lucas most famously worked together for years on their hit BBC comedy series Little Britain and its spin-offs.
While their partnership was a success during the early to mid 2000s, they became embroiled in a feud that kicked off in 2005 and by 2011 they had stopped speaking altogether, for almost a decade.
In his 2018 autobiography Little Me, Lucas revealed that their relationship started to sour in 2005 during their Little Britain Live tour, leading to a huge backstage fight.
However, they reconciled in recent years and reunited on screen for a Red Nose Day sketch earlier this year.