Robert Downey Jr. Reunites With Former Flame Sarah Jessica Parker in NYC

What a trip down memory lane!

In a new interview, Robert Downey Jr. confessed he recently reconciled with his ex-girlfriend Sarah Jessica Parker during a recent work trip to NYC — and revealed the former flames had a lovely time together.

Sarah Jessica and Robert in January 1980.

"You know how life goes and so many things happen, particularly when you're looking at the back nine and you're not a kid anymore," the 'Avengers' star, 50, told Howard Stern on his radio show. "You go, 'You know, this trip to New York, as opposed to just doing what's required of me… I wanna check in with someone I shared a big part of my life with and say hi.'"

Related: Robert Downey Jr. Shares First Photo of Daughter Avri — See the Cute Pic!

The 'Sex and the City' actress, 50, and Robert first met in on the set of the 1984 drama 'Firstborn' and dated for seven years until their breakup in 1991.

Robert with Susan (left) and Sarah Jessica and Matthew (right).

Sarah Jessica is now married to actor Matthew Broderick, 53, with whom she has three children, son James Wilkie, 12, and twins Marion and Tabitha, 5. Robert has two kids — son Exton, 3, and five-month-old daughter, Avri — with his wife, Susan Downey, 41, and an older son, Indio, 21, with ex-wife Deborah Falconer, 49.

"We were able to spend some time together and it was really cool," Robert told Howard of spending an evening with Sarah Jessica at her NYC apartment.

"Seeing her I was like, 'She's so great and so cool and so funny and so in-command,'" he added. "I got to meet her kids and I saw the way she and [her husband] live and I respect both of them so much."

Robert with journalist Krishnan Guru-Murthy on April 22.

During his interview with 'The Howard Stern Show,' Robert additionally addressed his reasoning for walking out of an recent 'Avengers' press sit-down after being asked personal questions about his past by journalist Krishnan Guru-Murthy.

"[He is] a bottom-feeding muckraker. What I have to do in the future is give myself permission to say, 'That is more than likely a syphilitic parasite and I need to distance myself from this clown, otherwise I'm probably gonna put hands on this somebody and then there's a real story!'" he said of the awkward interview.