Retired U.S. Supreme Court Justice John Paul Stevens on Monday reminisced about the “legendary” collegiality of his late colleague Antonin Scalia, while also recounting their sharp disagreements over the right to bear arms and other issues.

Speaking at Washington University in St. Louis School of Law, Stevens offered his first extended remarks about his colleague since Scalia died on Feb. 13. Stevens, who served together with Scalia for more than 23 years, retired in 2010 and turned 96 on April 20.