KIND-hearted Kylie Minogue comforted Doctor Who actor David Tennant yesterday over the death of his mother from cancer. The 39-year-old star, who has fought breast cancer, patted David on the back — and told him: “I know how you are feeling. ”Caring Kylie chatted to David, 36, as he arrived back at work after losing mum Helen McDonald this month.A source on the set of the BBC series said: “Kylie was really sympathetic. “She knows how terrible cancer is and she took a lot of care to comfort David.” Kylie and David were on set together as they filmed next year’s Christmas special in Swansea, South Wales. Filming had been put back a week as David travelled to Scotland for his 67-year-old mum’s funeral. The source added: “David’s mother’s funeral was only a few days ago and he is understandably upset. “He needed sympathy on his return to work — and Kylie gave him that. ”In the special episode Voyage Of The Damned, Kylie plays Astrid — a waitress on the Titanic who needs rescuing by the Time Lord.