Morgan left the popular ITV chat show earlier this year amid a wave of controversy over comments he made about Meghan Markle.
His regular presenting slot has yet to be filled by ITV, with a rotating series of guest presenters stepping in in his absence.
Whitehall appeared on the programme to discuss food waste and his role presenting the forthcoming Brit Awards ceremony.
Before the comedian and Fresh Meat star came on, Andi Peters introduced a competition tied into the Netflix series Bridgerton, in which viewers could win a car, a caravan and £35,000.
When Whitehall was then introduced, he said: “Thank you so much for that lead-in. Having Andi Peters giving away a caravan on the set of Bridgerton.
“That’s the way to start my day. Last time I was on I had five minutes of Piers shouting at Ann Widdecombe.”
“That was definitely a much nicer way to start my day with Andi Peters,” added Whitehall, before guest host Adil Ray replied: “Things have changed.”
Good Morning Britain airs weekdays at 6am on ITV.
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