There were three Hollywood stars aboard the yacht the “Splendour” the night actress Natalie Wood died in late November 1981. Natalie, Her husband, Robert Wagner, and actor Christopher Walken, who was then co-starring alongside Natalie in the 1983 film, “Brainstorm.”

WATCH: Robert Wagner On Natalie Wood: ‘We Had Everything, And In A Second It Was Gone’

TELL DR. PHIL YOUR STORY: Outrageous news story in your town?

Dennis Davern, who captained the “Splendour,” was also aboard that night, and claims he witnessed much of what went on in the hours leading up to Wood’s death. He claims there was an argument that started in the salon of the boat.

“Natalie was getting so upset because of the way RJ (Wagner) was acting. He was being extremely jealous and that’s when he picked up a bottle of wine and he smashed it on that table. Glass went all over us – and the whole inside of the salon of the boat.”

Dennis says Christopher Walken retreated to his stateroom in the forward part of the boat, while Natalie and Robert continued the argument in their room below deck. “When everything got quiet I thought ‘Something just isn’t right,’” Dennis continues, claiming that’s when found Wagner standing at the back of the boat. “And he looked at me and he said, ‘Natalie’s missing.’”

Watch the video above to hear what Dennis claims the actor did next.

Robert Wagner adamantly denies any involvement with the drowning of his late wife, Natalie Wood, and has never been charged in connection to her death.

WATCH: Why Authorities Reopened Probe Into Natalie Wood’s Death After 30 Years

The conclusion of this two-part Dr. Phil airs Friday. Check here to find out where you can watch.

TELL DR. PHIL YOUR STORY: Have a story in the news?

Witness Claims Wagner Said ‘We Have To Get Our Stories Straight’ About The Night Natalie Wood Drowned