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The UK's offer to the EU in Brexit negotiations was a "much better approach than threatening a no-deal and all the catastrophic consequences", said the Lib Dem leader.

But Vince Cable told Daily Politics presenter Jo Coburn that it was a "pity it was not made a long time ago."

Theresa May made her second trip in a week to Brussels ahead of a summit of EU leaders on Friday. She gave more assurance to EU nationals living in the UK to encourage them to stay after Brexit.