Baynton is part of a group of six comedy actors who have stuck together since the BBC’s Horrible Histories first hit screens in 2009.
Becoming known as The Six Idiots – officially named Them There – the troupe also features Jim Howick, Simon Farnaby, Martha Howe-Douglas, Laurence Rickard and Ben Willbond.
Baynton said being back with the gang felt like “coming home” for a “family reunion”.
“Families can rub each other up the wrong way, [but] deep down, you love each other,” he explained.
“We all find each other really funny, we’re all fans of each other.
“You spark each other’s imagination and ideas sort of snowball.
“I find when I write on my own, it’s a much more drawn-out process. There’s a lot more silence in between those sparks where you just stare at a wall.”
Baynton said it was only while writing that the cast realised there was a strong family theme between the characters.
“I think there’s a reason that family sitcoms are always the ones that seem to endure or find the biggest audiences, because people love to see family reflected back at them,” he said.