In his latest guest-starring role, Dr. Phil joins actor John Stamos on the hit comedy "Grandfathered." Follow cameras as Dr. Phil shoots a scene with Stamos, who plays a middle-aged man living the ultimate bachelor life with a great career, nice apartment and a busy social life, until he finds out his girlfriend from back in the day secretly gave birth to his son who has since had a child of his own.

“I had a good time doing [the show],” says Dr. Phil, who plays a doctor in his guest role.

“You were fantastic,” Stamos says. “We did the reading of this particular episode, and we didn’t know who was going to play the doctor, and it was this dry, kind of crotchety dude … “

“And you just came right to me!” Dr. Phil laughs.

Stamos, executive producer and star of the show, says he’s extremely proud the series. “It’s really good, and it has all the elements that I love about television -- family, and heart and pretty good sense of humor,” he says.

“You guys are knocking it out of the park,” Dr. Phil agrees.

"Grandfathered" airs Tuesdays at 8:30 p.m. on Fox. Check out more here.