EXCLUSIVE: Kevin James Does Pitch-Perfect Impression of Ray Romano on 'Kevin Can Wait' Set

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Former co-stars Kevin James and Ray Romano are reuniting on James' new hit comedy, Kevin Can Wait, and ET was with them on set for a behind-the-scenes look at their epic bromance.

After being friends for more than 20 years, James showed us that he has Romano's voice and mannerisms down to a tee as he mimicked his old pal during our sit-down with them.

WATCH: Kevin James on the Importance of Making 'Kevin Can Wait' the First Sitcom to Shoot on Long Island

"Your voice breaks a little," James told Romano, describing his technique.

"Is that an impression or a mockery?" Romano said with a laugh.

Romano guest stars on the next Kevin Can Wait, playing pushy car salesman Vic Margolis, whose son is friends with Kevin's youngest child, Jack (James DiGiacomo). As the families arrange play dates for their sons, Vic and his wife make efforts to befriend (and upsell) Kevin and his wife, Donna (Erinn Hayes).

WATCH: Kevin James on How New 'Kevin Can Wait' Role Differs From His 'King of Queens' Character

Prior to this appearance, Romano hadn't been on a sitcom since Everybody Loves Raymond ended its nine-year run over a decade ago, which meant Romano had to shake the rust off.

"It's exciting and scary," Romano shared. "It's been 10 years for me since I've been on a sitcom ... It was like another lifetime."

During Everybody Loves Raymond's run, James often appeared as one of Ray's buddies on the show. Likewise, Ray also appeared on James' series, The King of Queens, but their bond goes back to the days when they couldn't find anyone willing to put them on TV at all.

"We bonded over getting turned down for every audition we went on," Romano said.

WATCH: Ray Romano Talks 'Everybody Loves Raymond' 20th Anniversary

After starting out together as comedians on the New York standup scene, the two moved to Los Angeles, where they lived in the same hotel while trying to break into sitcoms.

"We tried to play a lot of golf, because we didn't have a lot of work," James said.

The two comics are a long way from those days, but their chemistry still remains.

"[We're] like Rizzoli and Isles," Romano joked.

Kevin Can Wait airs Mondays on CBS.