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The actor, 54, issued an apology in May for the historic incidents, with the star since dropped from his judging role on ITV's Dancing On Ice.
The actress,39, will reprise her role as Rose Tyler in a new audio story. She will be joined in the cast by Camille Coduri and Mark Benton.
Doctor Who's Billie Piper returns in brand new solo audio adventure.
The actor, 54, who recently appeared on All Star Musicals following his axing on Dancing On Ice, revealed Scott caught Covid just ahead of the New Tear and currently has symptoms of the virus.
Torchwood star describes actions as "bawdy behaviour, silly behaviour" but Time's Up UK refutes his claims.