The singer reunited with his bandmates Jimmy Page and John Paul Jones today (21.09.12) in London to announce the release of 'Celebration Day' - the live film of their historic performance at the 'Ahmet Ertegun Tribute Concert' at The 02 on December 10, 2007.
The original three members were joined on stage that night by drummer Jason - the son of their late sticksman John Bonham - and Robert thinks the experience of joining his father's band was cathartic for him.
Robert said: ''Jason lost his father when he was a young boy and he's been struggling with that from that time onwards. His father encouraged him to play the drums from when he was a tiny little kid, in those days his dad used to coach him.
When his dad left him he was left to his own devices. It was kind of inevitable over the years - because there's always been a kind of rub between us all as friends and family - [that we would play] and it was wonderful.
''His vigour was so fantastic too, he drove us too, whenever we were getting a bit weary Jason would just blast through the whole thing. It was peculiar and strange at times but at the same time it was very rewarding for all of us.
''It really did work as a performance with him driving us on. It was great for him, great for his family, and great for his grandmother, John's mum, Joan. The whole thing was a kind of easing of all those years of discussion and debate for Jason to us.''
The show was Led Zeppelin's first live appearance since the death of John in 1980, and guitarist Jimmy praised Jason for driving them on that night, and inspiring them to such a legendary performance.
He said: ''Jason was absolutely monumental in his performance and his playing from the very first rehearsal right through to The 02. He was incredible, his whole spirit, enthusiasm and his knowledge of what made Zeppelin tick musically was just something else.''
'Celebration Day' is a complete recording of the two-hour concert - which was held in tribute to late Atlantic Records founder Ahmet Ertegun - and features classic songs such as 'Whole Lotta Love', 'Rock And Roll', 'Black Dog' and 'Stairway To Heaven'.
It will be screened in cinemas from October 17, following premieres on September 13, and it will be available on DVD on November 19.