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Credit: Michael Hickey/WireImage

The latest installment of the Transformers series hit theaters this week, featuring an all-out war between the humans and robots. Transformers: The Last Knight follows a group of unlikely allies who are trying to save the world in the sequel to 2014’s Age of Extinction, with Mark Wahlberg reprising his role as the leader of the pack. While Anthony Hopkins and Laura Haddock join the cast in prominent new roles, the film welcomes back one character who sat out the last movie: Colonel William Lennox, played by Josh Duhamel.

No one was more excited about Lennox’s return than the actor himself, and he made plenty of new memories while on set. One of the biggest highlights for Duhamel? “Hanging out with Anthony Hopkins at Stonehenge was pretty cool,” he recently told InStyle. “And so was flying around in Black Hawk helicopters.”

Of course, nailing the action scenes wasn’t always easy. “It was scary at times,” said Duhamel. “This is probably the scariest one that I’ve done because we were put in some really treacherous situations. There was a giant gimbal with water rushing onto it—it was fifty feet in the air and there were people washing off. A lot of the stuff going on was pretty intense.”

While there were many unforgettable moments on set, one stands out in Duhamel’s mind when looking back. “I keep going back to this one simple little scene in particular,” said Duhamel. “It was Mark Wahlberg, Laura Haddock, Isabela Moner, and one of the [Navy] SEALs. And then it was me and Santiago Cabrera. We were all in pairs, tandem together, and we were about to jump and parachute for the scene. [Cabrera]’s character was injured, so we were tied together and I had the parachute. It was very intense and we were about to start shooting when suddenly Mark goes, ‘Wait, wait, wait—are you guys tandem together? I was like, ‘Yeah.’ He said, ‘Oh, so it’s like a love story!’ Now, Wahlberg is very dry. He’s a funny motherf—r. So he’s got the girl, and he’s about to be romantic and save her in the scene. But here I am, tandem to this dude, and he keeps saying, ‘Oh, so it’s like a love story!’ I was like, ‘You son of a b—h.’”