ITV Sport commentator Martin Brundle said he "thoroughly enjoyed" his return to racing in the junior single-seater series Formula Palmer Audi at Spa-Francorchamps last weekend.

Martin decided to make this one-off FPA appearance so he could race against his 17-year-old son Alex, who is a front-runner in the championship.

It was the younger Brundle who emerged on top in race one Alex finishing sixth while his father came home eighth but Martin had the upper hand in the second and third races, in which he finished seventh and sixth respectively.

"I got to race at Spa who would turn that down?

"And the opportunity to race against my son is a passing moment.

"Besides, I can’t get this driving bug out of my system!"

The race marked Brundle's return to the track where he scored his last Formula 1 podium in 1995, and was his first race since the 2001 Le Mans 24 Hours.

He showed no signs of rustiness and was in the thick of the wheel-to-wheel action during the three wet races.

"In the third race I had a cracking tussle with Ivan Lukashevich I’m three times his age!" Martin said.

"It was good hard racing  these young guys are not messing around."

Created by Brundle's former F1 rival Jonathan Palmer, FPA is a mainly British-based series for rising stars, all driving identical single-seaters with turbocharged Audi power.

"Where the regulars were beating me was in the slow corners the top 10 have developed a really good technique for using the turbo boost to best effect, which I was only beginning to latch on to by the end," Martin explained.

"I’m a huge fan of the championship the cars are equal, and you really have to drive them."