Judge Rinder, 38, revealed their connection while chatting about the new series of Strictly Come Dancing, which starts this weekend on BBC One. He's a contestant on the 2016 series, while Rachel, also 38, competed in 2008.
While chatting about advice he's had from ex-contestants, Judge R said: "Rachel Stevens, who I grew up with, said try to remember the steps and be talented (again that's alright if you're Rachel Stevens).
"She is amazing; she has always been super talented even when she was little. We used to play as kids; we've known each other since primary school."
Rachel finished in second place on the sixth series of Strictly, where she was partnered with Vincent Simone, so lets hope her advice pays off and Judge Rinder has a nice, long run on his series as well!
Meanwhile, he also got some advice from previous contestant Susannah Reid .
He joked: "Susanna Reid typically told me just to be nice (I looked at her slightly perplexed thinking how on earth am I supposed to do that?)"
Strictly Come Dancing starts Saturday, 3 September on BBC One.