Sylvester McCoy said: "The motley crew! It's been an absolute delight having everyone back, because some I've kept in touch with and worked with over the years and some I haven't, so it's really great to reignite all the memories in one's diminishing brain and remember the fun we had."

Actor Sophie Aldred added: "Playing this character for more than half my life and now meeting with old friends, it's been like having a party, which is lovely. Ace has great fun in the scenes with Garundel, Kane, the Mother, and the Master. I love the comedy of it. They're funny and they're great characters, all of them.

"It was good seeing Stuart again playing Garundel, who's just great. How fun to have a camp baddie like that. And then of course, seeing Eddie Peel again after all these years. We've bumped into each other occasionally, but to hear that chilling voice - no pun intended - of Kane is great."

Interlude:
Fond Memories by Alison Lawson
The Doctor and Ace are on holiday on the planet Mangessen, where they meet Cait and Jayd, who are visiting too. Cait is restaurant critic, and she and her partner have been there loads of times, so they know the place well. They get caught up in the machinations of an unscrupulous restaurant chain called Fond Memories.

Sylvester McCoy, Edward Peel, Sophie Aldred

Bonnie Langford, Sylvester McCoy, Lisa Bowerman

Bonnie Langford and Sylvester McCoy

Maggie O'Neill, Amy-Louise Pemberton, Sylvester McCoy, Sophie Aldred, Lizzie Annis, Dan Starkey

Wayne Forester, Travis Oliver, Sylvester McCoy, Alex Jordan, Dan Starkey