The TV presenter, the latest stand-in to host the ITV breakfast news show, looked uncomfortable on Monday morning when he was asked to hold a Blue Peter annual from his early days of stardom.
Competitions presenter Andi Peters had shown off the annual on Friday, and brought it out again on Monday – to the discomfort of Bacon, 45.
Peters said: "Remember the other day I had that Blue Peter annual – hopefully you're holding on to it. I'm going to need you to sign it and give it to me a little bit later, so I'm on my way."
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At the end of the competitions segment, Bacon, who was holding up the annual, said: "Thank you, Andi, I find it awkward holding this so I am going to you know, put it down..."
Bacon was fired from his Blue Peter role just 18 months into his contract in 1998 after it emerged that he had been spotted taking cocaine on a night out.
He was the only presenter on the show to have been sacked in the middle of a series at that point, and has since carved out a career on radio and TV presenting for other broadcasters.
Ranvir Singh called the old piece of memorabilia "lovely", but Bacon replied: "Not that lovely."
He continued: "Andi brought it up on Friday, it's the one where I prematurely left that show for reasons we don't need to discuss, Ranvir, but I think it is the only one left."
Bacon added: "There is just something about it that makes me feel awkward... it's fine."
On Friday, Peters had joked that he was adding in the annual, which features Bacon and Konnie Huq on the back cover, to the competitions prize.
But Bacon joked: "Well, do you know what, that might be worth more than £95,000 because when I prematurely left the children’s television – we don’t need to go into it, Andi!"
Watch: Richard Bacon 'doesn't mind' talking about Blue Peter cocaine scandal