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After working with lead vocalist Freddie Mercury for about two decades, Queen members Brian May and Roger Taylor were happy to make their recent U.S. debut with Adam Lambert.

At the 2009 finale of "American Idol" is where Lambert and Queen's May and Taylor first united on stage. Since then, Lambert has teamed up with the legendary group at the 2011 EMAs and a series of European dates last summer.

During a iHeart green room interview May said that Lambert's vocals are a one of a kind.

“He’s extraordinary,” said May. “It speaks for itself, his voice. That’s one voice in a billion. Adam can do things which really I have never heard anyone else ever do in my life.”

Roger believes the former "American Idol" star really knows how to grasp their songs.

"I think even since we did a short tour of Europe last year with Adam, and even since then, he's just come on, he's just amazing," said Roger. "He's such a great interpreter of our songs and he has a great stage presence and we really enjoy working with him."

Brian is enjoying the time working with Lambert, calling it a "gift from heaven."

"We have a chance to do great things with Adam Lambert. He really is a wonderful foil for us, so it's a kind of gift from heaven, really," said Brian. " It's a lot of fun, too. He's nice to work with. He's fun and light and he doesn't have any airs and graces, and you know, he just gets on with it with us, and we seem to just, we feel like a family. It's nice."

Ever since Mercury died in 1991 from a AIDS-related illness, Queen has worked with a number of singers, including Paul Rodgers.

Brian says Lambert is a perfect fit.

"It wouldn't happen with, you know, a billion other people, but it just works with him. It feels comfortable and nice, and challenging, also, because he puts different interpretations on the songs, so it gets us to play a little differently. So, it's nice, it's alive."