Helio Castroneves and Tony Kanaan have been friends and racing competitors going on 30 years.

This year, both drivers are racing Indy cars for the 20th season. They came to the United States together in 1996 to drive as teammates in Indy Lights. They moved up to Indy cars two years later and each eventually found his way to a powerhouse team in the Verizon IndyCar Series: Castroneves with Team Penske and Kanaan with Chip Ganassi Racing.

Along the way, they have accumulated a combined 46 race wins, 63 pole positions, four Indianapolis 500 triumphs and one season championship. They are truly two of the living, driving legends of INDYCAR.

On April 27 at the Heard Museum in Phoenix, the Brazilian buddies sat down with longtime racing commentator Gary Gerould to talk about their successful careers and friendship that has seen its ups and downs. The event streamed live on IndyCar.com. You can watch a replay here.