Jon Cryer Accomplishes His TV Dream of Guest Starring on 'NCIS'

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Jon Cryer spoke to ET about his big NCIS debut ahead of Tuesday's season premiere, and he revealed that his role was six years in the making.

In 2009, the Two and a Half Men star told ET that he wanted to guest star on NCIS ever since the show's first season in 2003, which coincidentally was the same year that his CBS comedy launched.

WATCH: Why 'NCIS' is the No. 1 Show in the World

"I've loved that show from the first season when nobody believed me that it would be a hit," he said at the time.

The wait was well worth it. Nearly 15 million fans were left hanging at the end of the last season's finale when Agent Gibbs was shot. On Tuesday's season 13 premiere, Cryer's character comes to Gibbs' rescue.

"I save Mark Harmon's life on the show," Cryer told ETonline's Leanne Aguilera. "He was shot in the chest and you need a heart surgeon, and the heart surgeon you need looks a lot like this."

NCIS co-star Pauley Perrette told ET she didn't learn about Cryer's role until the table read for the episode.

WATCH: Behind the Scenes of the 'Frightening' 'NCIS' Season Finale

"Literally, he was like, 'I did it!'" Perrette said. "And he had always just asked to be a dead body and now he's got a really fantastic role. We are delighted."

Harmon told us that Cryer was the best person to save Gibbs' life because "you laugh the whole time."

Watch the video to find out what could be next on Cryer's TV bucket list.