Back in 1987, actor John Thaw brought the endearingly cantankerous Inspector Morse to life on screen for the first time. Now, nearly 30 years later, John Thaw's daughter helps to keep that legacy alive.

This is the story of how Abigail Thaw came to play Dorothea Frazil in the Inspector Morse prequel, Endeavour, just in time for Endeavour's third season premiere.