Listen to Mil Gaya Hum Ko Saathi online. Mil Gaya Hum Ko Saathi is a Hindi language song and is sung by R.D. Burman, Asha Bhosle and Kishore Kumar. Mil Gaya Hum Ko Saathi, from the album Baby Mega Mixes, was released in the year 2004. The duration of the song is 2:00. Download Hindi songs online from JioSaavn.