The programme, which began at 9pm tonight, was part traditional interview and part questioning by a studio audience.

Both men faced questions from Jeremy Paxman as well as responding to questions from members of the public, moderated by Kay Burley.

Here's what we learned:

1. Zayn Malik made a special appeareance.

Well, not really but we really thought there for a second he might have...

3. Cameron and Miliband didn't exactly agree on an EU referendum

In an attempt to stave off the UKIP threat, Mr Cameron repeated his promise that only one party could deliver a referendum on Britain's membership of the European Union.

Mr Cameron said there were too many things about Europe that "drive people mad" and that work had to be done to reform it and it was time the British public got to make the decision on the EU themselves.

Meanwhile, Ed Miliband stated he didn't want to rule out one way or the other but that a referedum wasn't exactly top of his agenda. In fact, he said it was "unlikely".

4. Ed Miliband doesn't really care what people think of him.

Mr Miliband dismissed newspaper criticism of him and claims he was a "north London geek".

He said: "Newspapers can write what they like. The bloke on the Tube can say what he likes. I care about the British people."

And he added: "You need a toughness in this job. People have thrown a lot at me – and I'm pretty resilient. I know I'm the right man for the job. That’s why I’m sitting here and that's why I believe I should be Prime Minister."

5. David Cameron didn't want to talk about Jeremy Clarkson.

He was asked why he surrounded himself with rich people like Clarkson and Lord Green, the Tory peer and former HSBC chairman.  And replied: "The aspersion you are trying to cast is completely ridiculous." 

The Prime Minister said he didn't know about what happened but called his friend a talent.

6. Shredded wheat was obviously the pressing question for the Prime Minister.

Kay Burley to David Cameron: "Have you ever had three shredded wheat?"

Cameron: "Yes, but it was a long time ago." 

Here's why she asked.

7. Immigration was a key issue.

Cameron acknowledged he has failed to hit his immigration target - he had pledged to reduce net migration to the tens of thousands but missed it by more than 200,000.

He said: "We have not met the commitment on immigration - I fully admit that."

Meanwhile, the Labour leader repeatedly sidestepped questions on immigration levels and what he would find unacceptable saying he would "not pluck a figure out of the air".

But he did admit that the previous Labour government had completely underestimated the number of eastern Europe people coming to the UK under the relaxation of rules. He also said that Mr Blair's Government had not performed well on inequality.

8. Paxman really asked Ed Miliband the tough questions...

Ed Miliband said his brother could not have led the Labour party better than him but admitted the battle for leadership had left him "bruised" and the relationship "strained".

Later in the interview, Paxman asked: "People say your brother would do a better job?" 

There was an audible pause before Miliband answered by saying he has been underestimated and that people never thought he would be leader.

At the end Paxman asked him if he was alright. “Yes,” said Miliband, “are you?”