Heroes Where did we leave Dudley at the end of the first series, and where do we meet him at the start of this one?

We left him in series one depressed, drunk and sweating in Cairo playing mind games with everybody. We find him now, I think, slightly more ebullient., It’s moving towards the end of the war so things are starting to look better. He’s ‘on the wagon’, briefly, and he’s still playing mind games but he’s back in England and he’s more cheerful.

How was it reuniting with fellow cast members? And being joined by new characters?

It’s great because I did a play, Othello, with Gwilym Lee about ten years ago. We had a great time but I hadn’t seen him since except for watching him in Bohemian Rhapsody and in other parts. Theo Barklem-Biggs is an old friend from a play we did at the Donmar. So I know a few of the boys but it’s lovely to be back with all of them.

I’ve got great scenes with Jack O’Connell in series two. Jack has a rare intensity and authenticity, it’s hard to find actors that can embody this level of tough courage and Jack’s one of the few.

It’s such a great job for me, this. I spend most of my time with Sofia Boutella in ballrooms drinking and dancing – what could be better?! Sofia has danced with Madonna and Michael Jackson, and now I’ve danced with her!

We see a different side to many of the men in series two, is it the same for Dudley?

I think Steven Knight has written that aspect really beautifully, the PTSD. Now he’s introduced the characters to everyone, Steven has a bit more time to delve a little deeper and I think that’s really interesting for viewers. As for Dudley, because we got quite a lot of his dark side last time, maybe it’s time for the light.

What can we look forward to in series two?

More of the excitement, sweat, toil and tears of war that we had in series one. But also I feel a certain pride in this regiment, which is the first and best special forces regiment in the world. In the acting game you get to do a lot of the American view of things and this is steadfastly a British point of view, which is really refreshing.

Spring, 1943. Paddy Mayne takes control of the SAS following David Stirling’s capture, as attention turns from the conflict in North Africa to mainland Europe. But GHQ have cast doubt over the future of the regiment, while the creation of a second unit and an influx of new arrivals make things even more difficult for the men. Can they prove that the SAS remains essential to the war, wherever it may lead them? Based on Ben Macintyre’s best-selling book of the same name.

SAS Rogue Heroes series two is available in full on BBC iPlayer from 6am on New Year’s Day, and airs on BBC One from 9pm that night.