The 'Silent Witness' star teamed up with her mother, who recently joined the cast of hit TV series 'Downton Abbey', to celebrate the work of tragic poet Sylvia Plath as part of the Josephine Hart Poetry Hour events, reported Daily Star.
The pair read a number of Plath's poems at the British Library and the event was hosted by Plath's daughter Frieda Hughes.
However, David said she was nervous about performing with her daughter in public.
"It's scary to perform with your daughter. When you stumble over words you wonder if she's thinking, 'Oh God, stupid mother," she said.