The chat show host surprised viewers during an interview with Aniston when he unveiled a replica set of Monica's kitchen from the comedy, which ran for ten years until 2004.
Kimmel presented Aniston with a script and the pair read a fake scene between her character Rachel and Ross, played by Kimmel, about "making love". The audience then erupted with screams and cheers as Cox and Kudrow walked through the set door.
All four then took part in the sketch, reading from Kimmel's script as their respective characters and criticising his storyline before reciting lines from the show's theme song, I'll Be There For You by the Rembrandts.
The sketch marked the 20th anniversary of the comedy. A replica of the show's Central Perk cafe will be recreated in Manhattan to celebrate the milestone next month (Sept14).