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.
When Doctor Who premiered in 1963, the BBC probably didn't anticipate it becoming a worldwide phenomenon and the longest-running science-fiction show in history.
The story was cut short by a strike at the BBC, but over seven hours had already been filmed.
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.
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Tom Baker has reprised his role as Doctor Who for a newly-released episode of the sci-fi series. It was a lovely time of my life. More recently, though, Baker played a mysterious character known as the Curator in 2013's "The Day of the Doctor".
If the new soundtrack sounds reassuringly familiar, it's because composer Mark Ayers tried his best to imitate the sounds of the Tom Baker run using the original equipment of the 1970s. Adams would only write two other episodes for Doctor Who, but "Shada" was always the "what could've been?" after filming for the episode was interrupted by an engineering strike.
The episode sees Baker's Doctor head to Cambridge to fight an evil alien named Skagra.
"I never left (Doctor Who) and that's why I can't stay away from it".
Shada is now available to buy as a digital download and is set for release on DVD and Blu-ray on 4 December.