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The divide between the UK and Ireland should remain an "invisible and non-existent border" and any barrier could be a target for paramilitaries, an Irish senator has said.

Senator Neale Richmond claimed the Irish government was the "UK's best friend when it comes to European talks" but it would have to stand up for the rights of Europeans and Irish people in Brexit negotiations.

He was talking to Daily Politics presenter Jo Coburn, Labour MP Kate Hoey and Conservative MP Paul Masterton on the future of the border after the UK leaves the EU.