For the specials, Cribbins is returning to his role of Wilfred which he originated in 2007 and completed most of his filming before his death in July last year.
Speaking at Galaxycon, Tennant opened up about working with Cribbins in his final role.
He said to the audience: "Can we get Wilfred back? Can grandad be back on set? He was getting old and a little bit infirm but he was still full of beans and full of energy."
Tennant added: "And I am thrilled to say that – although very sadly he wasn't in those episodes as much as we hoped – he was on set with us and Wilfred lives on.
"Bernard is much missed and much grieved for, but I am so excited that his final screen performance will be [one] I had the great honour of being part of and you'll see it all on your screens."
David Tennant just revealed Wilfred confirmed for the 60th and sadly wasn't in it as much as they would like so maybe they didn't film everything but still amazing we have one more adventure with him even though the actor sadly passed away pic.twitter.com/s7FCxamvki
— Conal 🐧🎬 (@GODOCTORWHO1) April 13, 2023
Cribbins originally starred in Doctor Who from 2007 to 2010 as Donna Noble's grandfather with him later taking on a more prominent role in the show for Tennant's final storyline as the Tenth Doctor.
After Tennant and Catherine Tate (who plays Donna) were confirmed to return for the 60th anniversary specials, a number of other stars were subsequently announced to be reappearing on the show.
As well as Cribbins, Jacqueline Noble and Karl Collins were confirmed to reprise their roles as Sylvia Noble and Shaun Temple. All three made their last Doctor Who appearance in 2010's The End of Time.
The 60th anniversary specials will also see Neil Patrick Harris join the cast as a villain.
Watch below: Bernard Cribbins: Doctor Who star dies aged 93