MSNBC's Joe Scarborough Charles (Joe) Joseph ScarboroughScarborough calls on Cuomo to walk back statement he made about Trump: 'Out of bounds' Mika Brzezinski: 'Super grossed out' by Trump speech attendees 'who put their lives at risk' Democrats tear into Trump's 'deep state' tweet: His 'lies and recklessness' have 'killed people' MORE implored Democrats to "roll up their sleeves and go after" President Trump Donald John TrumpSteele Dossier sub-source was subject of FBI counterintelligence probe Pelosi slams Trump executive order on pre-existing conditions: It 'isn't worth the paper it's signed on' Trump 'no longer angry' at Romney because of Supreme Court stance MORE and "do whatever it takes to win" — or risk losing the White House again in 2020.

The advice from the former Republican comes one day after former special counsel Robert Mueller Robert (Bob) MuellerCNN's Toobin warns McCabe is in 'perilous condition' with emboldened Trump CNN anchor rips Trump over Stone while evoking Clinton-Lynch tarmac meeting The Hill's 12:30 Report: New Hampshire fallout MORE testified before Congress in an appearance that was panned by conservatives and some on the left.

"If you want to stop Donald Trump ... it's time to roll up your sleeves and go after him and do whatever it takes to win. If you don't do that ... you'll have Donald Trump for four more years," said the "Morning Joe" host on Thursday.

"If you want to stop Donald Trump, it is time to...roll up your sleeves and go after him and do whatever it takes to win. If you don't do that, you'll have [him] for four more years." --@JoeNBC's message to Dems pic.twitter.com/V5TlF45EeG — Morning Joe (@Morning_Joe) July 25, 2019

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Scarborough left the GOP in 2017 because of his opposition to Trump. The 56-year-old served as a Florida congressman from 1995-2001.

Scarborough, Mika Brzezinski Mika Emilie BrzezinskiMika Brzezinski: 'Super grossed out' by Trump speech attendees 'who put their lives at risk' Trump hurls insults at Harris, Ocasio-Cortez and other women Trump targets 'Complete psycho' Scarborough, 'ditzy airhead' Brzezinski while praising 'Fox & Friends' MORE and Trump were once on better terms during the 2016 Republican primaries, with the former NBC "Apprentice" star in Trump often calling into "Morning Joe" for extended interviews.

But Trump has not appeared on "Morning Joe" or MSNBC since May 2016, shortly before he became the GOP presidential nominee.