The late Queen's eldest granddaughter, 41, told Chris Moyles it was "too much" being separated from the former rugby player for so long, as she and Mike emotionally reunited after spending over three weeks apart.
British equestrian Zara also jokingly poked fun at her husband's relationship with his 'camp wife' Sue Cleaver in the jungle, and addressed the I'm A Celebrity...Get Me Out of Here! 2022 star's attempt to show off his rapping skills during his time on the ITV show.
Mike became the last star to be voted off the show during Saturday night's update from the jungle, leaving Matt Hancock, Jill Scott and Hollyoaks star Owen Warner left to battle it out before the Lioness was crowned Queen of the Jungle during Sunday's live final.
In tomorrow night's I'm A Celebrity...Get Me Out Of Here! The Coming Out Show, ITV viewers will get to see the moment the campmates left the jungle and were reunited with their loved ones once again.
Before greeting husband Mike on the iconic I'm A Celebrity bridge on Saturday, Zara can be heard admitting: "It’s been a long few weeks, the kids have missed him so it’ll be nice to get him out."
There had been speculation over whether Zara would meet Mike on the bridge, as she hadn't been spotted in Oz, unlike the loved ones of other campmates.
But Zara, who is 20th in the line of succession to the British throne, flung her arms around her rugby star husband as she met him on the iconic I'm A Celebrity bridge on Saturday - with Mike heard uttering some sweet words to the daughter of Anne, Princess Royal as they romantically embraced in front of the cameras.
On the car journey back to the hotel Mike says: "I’m sorry I had a camp wife in there (Sue), but she was brilliant.”
Zara then jokes: "Cheating on me."
She goes on to ask him about his rapping, saying: "You went in early with that on day 2, teed yourself up for it and that’s your repertoire gone."
As the happy couple get to their hotel room, Mike's former campmate Chris pops in with a bucket of beers and tells Zara: "I looked after him for you in there." She replies: "Did you enjoy his spooning and his hugs."
The former Radio 1 DJ then asks Zara how good it is to have him back, to which she replied: "It’s just too much, let’s never do this again."
Mike and Zara are currently still in Australia, enjoying some time in the country they first met each over back in 2003.
The loved-up pair bumped into each other in a Sydney bar while Mike competed in England's successful World Cup campaign in Oz back in 2003.
Zara was travelling across Australia when she decided to call into a local bar to watch the semi-final, where Mike was also catching the game alongside some teammates after being dropped from the line-up.
Speaking to the Daily Mail in 2011, Mike explained: "Zara was in the same bar; we got introduced but didn't speak that much. Later on, Austin gave me her number and said, 'She wants you to text her, to say where you're all going out after the final so she can come along'."
The following year it was confirmed the pair were dating and they eventually went on to marry on July 30, 2011 at Edinburgh's Canongate Kirk, just three months after Prince William and Kate Middleton's wedding.
*I’m A Celebrity…Get Me Out Of Here! The Coming Out Show tomorrow at 9.15pm (Thursday) on ITV1 and ITV Hub