She added: 'We're doing well, keeping up with the peeps.'
Joel then chimed in: 'Oh yeah! G and D, down with the peeps.'
Wilkinson - who left the today show two years ago following a pay dispute - is seen giggling with co-host Waleed Aly as she throws to a break.
Just hours later it was revealed that Karl Stefanovic is returning to Nine's Today with Allison Langdon by his side.
The pair will replace Knight and Gardener in 2020.
'I am as shocked about this as everyone else,' Karl told The Sydney Morning Herald on Friday.
'It's not something I thought would ever come up again. I thought my time was up, but then, when I was sounded out about it, it got me thinking. It's a big job with enormous pressures and I know only too well some of those pitfalls, but it is also without question the best live TV job in Australia.'
WATCH: Guest fails to recognise Lisa Wilkinson on The Project