The 83-year-old actor, who played the Time Lord between 1974 and 1981, reprised his part to complete the unfinished story Shada, 38 years after it was abandoned.
Throughout all of Doctor Who's adventures, the Time Lord has regularly traveled through various timelines, with the series recently mirroring its fictional narrative as an episode from the late '70s finally being completed. The episode had to be shelved due to an industrial strike at the BBC.
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Almost forty years later, though, the cast of the story have been reunited and chief among them is Tom Baker, the Fourth Doctor himself who played the role from 1974-1981. "Doctor Who... when I was in full flight, then I was happy".
By the time Tom Baker stepped into his iconic colorful scarf as the Fourth Doctor, this junking policy had been put to a stop.
"'Shada" was one of my favorite "Doctor Who' stories".
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Now, it has been announced that Baker will return to his most famous role for a brief cameo, while the rest of the episode will be completed using a combination of his voice and animation.
The producers have made use 1970s camera equipment and shot the scenes on the original TARDIS set and K9 robot dog model in order to make it look exactly like the original footage.
A two-disk DVD is scheduled for release in the United States on January 9 (you can snag a region-free Blu-ray via Amazon.co.uk as early as December 4).
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The episode sees Baker's Doctor head to Cambridge to fight an evil alien named Skagra.
Baker told the BBC: "I think it never left me and that's why I can't stay away from it".
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But he later communicated by satellite phone that the problem had been solved and that he would continue the voyage submerged toward Mar del Plata.