"The man is just that - a man. He's a great guy. He loves movies and making movies and he's rare," he said.
"Thirty years of being a movie star hasn't ruined him in any way at all. In fact, he has a child-like enthusiasm for what we get to do. He is completely untarnished and that is something I just loved being around."
David admitted that he didn't know about the best-selling books before he signed up for the role of Detective Emerson.
"I wasn't aware that there were 17 of them. I wasn't aware that there were many millions of people who love the books, which is a good thing actually," he said.