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The actress starred alongside The Sixth and Seventh time travelling lead character in 1986 and 1987.
During an interview with Radio Times, the actor, 52, also revealed how the BBC show led to his marriage with Georgia Moffett.
The Irish actress will star alongside new Time Lord Ncuti Gatwa in the forthcoming Christmas special, but the extent of her role is yet to be disclosed.
The duo are set to reprise their roles as the titular Time Lord and his companion Donna Noble for a trio of specials later this month, 15 years after they last travelled in the TARDIS together.
But you're in for a bit of a wait before seeing her on screen.