Do you remember the time when Prince William joined Jon Bon Jovi on stage to sing an acoustic version of "Livin' on a Prayer"? The legendary singer recalled his rare duet with the Duke of Cambridge when he talked about his new project with Prince Harry.

The 57-year-old rock icon discussed his upcoming charity single on BBC One's The One Show with hosts Alex Scott and Matt Baker. When a pre-recorded VT showed the former Coronation Street star Kym Marsh met with the veterans who were adjusting to their civilian life, the Bon Jovi frontman revealed his connection to the military, via Express.

Scott knew that the military is very close to Jon Bon Jovi's heart. The singer-songwriter then revealed that it is the exact reason why he is on the show, revealing his parents used to be marines.

So, he wrote a song for a documentary in America, the military, and the soldiers, who were coming home with PTSD. He revealed that he was asked to write a song that would give light to the marines who needed holistic ways to be treated. At the time, he thought of the easiest way to overcome this was to have a service dog.

Jon Bon Jovi, then, added that he sent the song to Prince Harry because of the Invictus Games before it even came out. Now, they are set to meet together with the Invictus Games Choir to re-record the song, which all proceeds -- 100 percent of it -- would go to the said cause for the military.

"I just wanted to give something back to the UK, who has given me so much the last 40 years," the hitmaker explained. Scott then asked him if he would sing with Prince Harry, to which he responded with no and doubted if it would even happen.

However, if Prince Harry would like to have a duet with him, Jon Bon Jovi said he would be more welcome. From here, he remembered the time when Prince William sang with him on stage with Taylor Swift.

They, then, showed a clip where these three were singing their hearts out at the Winter Whites Gala at Kensington Palace, BBC noted. At the time, Prince William was hosting the charity event to raise money for Centrepoint homeless charity.

Jon Bon Jovi revealed Prince William sang so well. "He did it well, he was great! He just jumped up there without any prodding," he added. So, when Prince Harry comes to the studio when they start to re-record the song for the soldiers, he said he doesn't need an invite to join them.