I’m much much closer to my children than my father was to me, and I would hope that the quality of love I’ve given them is different from the quality my father gave me.

My daughters are something, and they just surprise and enchant and impress me more and more every single day as they grow up. And so these days, when we talk, we talk as parent to child, but also we learn from them.

Having a family can be a rude awakening for some people but it wasn't like that for me. I've absolutely loved it and I still do. I've got two daughters, Polly and Camilla, in their late 20s now. You get these people who say, "Wait for the terrible twos," and, yes, they've had the odd flounce, but they've got increasingly joyful to be around. My wife Alice and I are very close to them and value their company hugely.

We always tried to share experiences with them. It was a little more difficult for them after the astronaut business, but they’ve responded well. All three are happily married, with their youngsters. And they’re not just happy homemakers. They’re all involved in little projects of their own, because they are challenged by wanting to help local charities, or wanting to start a business. I think they have turned out reasonably well.

Any lasting relationship needs non-negotiables. We made the decision early on never to be apart for longer than two weeks: 26 years married and we’ve only broken that rule once, by 11 hours, when my wife was in Sleepy Hollow. If I ever meet [director] Tim Burton, I’ll be having words.

“David, you are going to walk among kings.” This was my mum’s prophecy when I was small. My father is from a royal family in Nigeria, so I interpreted it that way. Remarkably, she was right: I went on to play King Pelasgus, Henry VI, Martin Luther King and Seretse Khama.

Right now. I am a very blessed man.

God has never let me down. He’s a key factor in guiding my decisions and feeling safe within them. My wife and I suffered three miscarriages, one of them quite late in the pregnancy. Without faith, we would have retreated into our own corners to lick our wounds, but our love increased.