This is one of those duets that kind of slipped through the cracks.  In 2002, Paul McCartney made an appearance at a Brian Wilson show.  The two teamed up to sing the Beach Boys classic 'God Only Knows'.

 

It's unreleased, officially anyway, but of course the recording is here thanks to the world of YouTube.  These two should get together in the studio.  The mutual respect has always been there.  There's even a healthy competition that's well documented between the Beach Boys and the Beatles. And obviously, you can hear some chemistry between the two.  The audio here is not bad.  Check out a rare duet:

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