Pipe coupling and restraining device for connecting to a pipe, said pipe defining a longitudinal axis, comprising: a coupling sleeve for receiving an end of the pipe to be restrained and having a first annular abutment surface; a clamping ring having a second annular abutment surface; a collar assembly for restraining and sealing the pipe, comprising: a pipe collar formed by wedge-shaped segments, each segment comprising a support body and a gripper arranged between the pipe and the support body, and an annular seal for sealing the coupling sleeve to the pipe; wherein the gripper is slidably coupled to the support body for sliding forwardly and radially into the pipe for restraining the pipe when the pipe is pulled from the device; wherein the support body and gripper are both arranged to support the annular seal for sealing against the first annular abutment surface; wherein the annular seal is arranged to extend from the first annular abutment surface to the gap between grippers and pipe; wherein the first or the second annular abutment surfaces is conical such that when the coupling sleeve and clamping ring are axially compressed together, the collar assembly is pressed inwardly into the pipe compressing the seal radially between collar assembly and the pipe and also axially between the collar assembly and the first annular abutment surface; characterised in that the wedge-shaped segment comprises interdigitated fingers on a face of the support body for meshing with corresponding interdigitated fingers of two neighbouring wedge-shaped segments in order to support the annular seal as a circumferentially uninterrupted surface; wherein the gripper comprises extensions to radially compress the annular seal against the pipe, wherein the extensions can be inserted into corresponding slots on a neighbouring gripper for forming the pipe collar. a coupling sleeve for receiving an end of the pipe to be restrained and having a first annular abutment surface; a clamping ring having a second annular abutment surface; a collar assembly for restraining and sealing the pipe, comprising: a pipe collar formed by wedge-shaped segments, each segment comprising a support body and a gripper arranged between the pipe and the support body, and an annular seal for sealing the coupling sleeve to the pipe; wherein the gripper is slidably coupled to the support body for sliding forwardly and radially into the pipe for restraining the pipe when the pipe is pulled from the device; wherein the support body and gripper are both arranged to support the annular seal for sealing against the first annular abutment surface; wherein the annular seal is arranged to extend from the first annular abutment surface to the gap between grippers and pipe; wherein the first or the second annular abutment surfaces is conical such that when the coupling sleeve and clamping ring are axially compressed together, the collar assembly is pressed inwardly into the pipe compressing the seal radially between collar assembly and the pipe and also axially between the collar assembly and the first annular abutment surface; characterised in that the wedge-shaped segment comprises interdigitated fingers on a face of the support body for meshing with corresponding interdigitated fingers of two neighbouring wedge-shaped segments in order to support the annular seal as a circumferentially uninterrupted surface; wherein the gripper comprises extensions to radially compress the annular seal against the pipe, wherein the extensions can be inserted into corresponding slots on a neighbouring gripper for forming the pipe collar.