Stevie Wonder and Robin Thicke

Blue-eyed soul singer Robin Thicke appeared alongside soul legend Stevie Wonder on comedian Steve Harvey's radio show last week to discuss his most recent album, 'Sex Therapy.'

Thicke began by explaining that he had initially planned a "soul classics" album, recording covers of songs by Marvin Gaye, Stevie, and Terence Trent D'Arby, and he and Stevie broke into a rendition of D'arby's 'Sign Your Name.' After singing, Stevie interjected a complaint; "Robin, I am a little jealous, cause I wanted a song on this album right here," Stevie said. "The song I was telling you about would have been perfect for that. Can we go back in time?"

Thicke didn't geek out like he did when he was tweeting about recording with Jay-Z, playing it super cool and responding, "We'll put it on the next one." The singers then performed Thicke's 'Lost Without U,' with Stevie on the harmonica.

Watch the video here. Robin Thicke's album, 'Sex Therapy' is in stores now.