Kylie Minogue Comforts David Tennant  7/31/07

Pop star Kylie Minogue has offered her condolences to British actor David Tennant after he lost his mother to cancer.

The singer - who is making a cameo appearance on Doctor Who - consoled her co-star on the set of the BBC sci-fi series in Swansea, Wales.

She told Tennant, "I know how you are feeling."

A source tells British newspaper The Sun, "David's mother's funeral was only a few days ago and he is understandably upset. He needed sympathy on his return to work - and Kylie gave him that."

Filming of Doctor Who was suspended to allow Tennant time to grieve over his mother's death on 15 July.