Though they have announced an arena tour for next year, Friday night was the first time Girls Aloud had performed together in over three years, taking to the stage for BBC Children in Need.
The quintet took to the stage to perform two songs, including their current single and official single for Children in Need, Something New.
They then had a wardrobe change before returning for their upcoming ballad Beautiful 'Cause You Love Me.
Speaking to the hosts, Terry Wogan and Tess Daly, the group said they were nervous about the performance, with Nadine Coyle adding: "Hope no one noticed that mistake I made when I walked forward!"
Asking the question on everyone's mind, Wogan inquired if past disagreements were behind the group.
Coyle replied: "What disagreements? We couldn't wait to get back to back together."
Kimberley Walsh added: "We've all fallen back into the same roles like nothing's ever changed."
Girls Aloud hadn't performed together since Autumn 2009 when they supported Coldplay at Wembley Stadium.
To mark their 10 years of fame since forming on Popstars: The Rivals, the group have recorded new songs for their greatest hits album, Ten, and will embark on a UK and Ireland tour next Spring.
Their reunion was confirmed last month, which was followed by the release of the video for comeback single Something New.