Robbie Williams gave Louis Walsh a lap dance in front of millions of television viewers on Sunday night.

The 38-year-old singer was performing his new single, Candy, on Britain’s The X Factor.

The performance took a racy turn when Robbie made his way to the judges’ panel and straddled Irish entertainment manager Louis.

Wearing a fitted purple turtleneck, black vest and slacks, the singer shocked fellow judges Nicole Scherzinger, Tulisa Contostavlos and Gary Barlow.

As Louis wiped the sweat off his brow, presenter Dermot O’Leary took aim at the star – who just last month was given a lap dance on air by a Britney Spears impersonator.

"Louis, that's your second lap dance of the series!" Dermot joked.

Robbie meanwhile seemed happy to show off his svelte physique.

The singer recently opened up about his new extreme workout regime.

“At the minute my addiction is working out,” he told British magazine Shortlist, joking, “I’m [obsessed] with weights and cardiovascular and my wife’s worried.”