In the preview, the presenter, 40, was seen chilling in the hot tub with a drink in her hand, while Dan, 46, was manning the grill.
Helen shouted to her travel buddy: ‘I’ve always said you are a gentleman Dan Walker.’
‘I’ll let you know when it’s ready,’ Dan replied.
‘Keep it down a little bit, I’m just enjoying the birdsong,’ Helen quipped.
‘I don’t like mine too burnt it that alright?’
Helen and Dan visit a sheep farmer on their travels during the series, and the Strictly finalist is forced to face her concerns when they paddle across a canal.
Dan also talks to Helen about his terrifying bike incident and the difficulties he now endures.
Helen announced her departure from BBC Radio 5 Live on Sunday.
She claimed that she was having to balance the gig with her other presenting work and caring for three children as a single mother after her divorce from Richie Myler in April.
Speaking to her co-host Lloyd Griffith, she said today: ‘You’re emotional because I’m leaving.’
‘I am,’ Lloyd confessed.
Helen was then asked how she felt about leaving the show, and she battled to keep her cool.
As her voice cracked, she shared: ‘I am not alright about it but, you know, needs must. The juggle is real.
‘There is an eight-year-old with a sideline who needs me.’
As the two-hour show came to an end, Helen couldn’t help but get emotional once again as she expressed her gratitude to her listeners.
‘I’ve loved every minute of the past year,’ she said sweetly.
‘Thank you to all the team and thank you to all of you.
‘It’s hard to know what to say without getting emotional.’
Dan & Helen’s Pennine Adventure premieres Tuesday 15th August on Channel 5 at 9pm.
Source My Celebrity Life.