Picture this: David James Elliott, the man who portrayed the tough-as-nails Judge Advocate General Harmon Rabb Jr. on the hit series JAG, might not be the rugged character you'd expect off-screen. If you're surprised, you're not alone. David, who is now 58, opens up exclusively to Closer Weekly in the magazine’s latest issue, currently available on newsstands.

Here's the kicker: beneath that 6-foot-4 frame lies a man who's as sensitive as they come. "I was always a highly sensitive kid, always close to my feelings," David reveals. And if you thought the guy who brought John Wayne back to life in the Oscar-nominated drama Trumbo was all about brawn, think again. This vegan stays in shape with ballet-inspired Bar Method workouts, proving there's more to him than meets the eye.

David laughs when he recalls his fitness routine, calling it "brutal!" Yet, he doesn't shy away from embracing his inner macho. After all, the man left high school to perform in punk bands (yes, one was named His Case of Beer!) before finding fame as an actor. Now, he's reprising the role that made him a star with recurring appearances on NCIS: Los Angeles, alongside his JAG costar Catherine Bell.

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"It felt like putting on a comfortable old shoe," David says of their reunion. "It was very natural." Closer caught up with David to discuss his 27-year marriage to actress Nanci Chambers, their children Stephanie, 26, and Wyatt, 16, and his upcoming projects, including a Netflix figure skating drama and a film he’s producing in Scotland this summer. He shares his determination to "continue to stay out of my comfort zone and keep reaching higher."

Scroll below to read our exclusive Q&A with David!

Harmon Rabb Returns: How Did It Happen?

[NCIS: Los Angeles] producer R. Scott Gemmill and David had a chat about showcasing Harmon Rabb in a fresh light. David explains, "I felt that nothing like this had ever been done. That onion of Harm as a JAG lawyer had been peeled completely, and we thought it would be exciting to have him explore the [NCIS] venue. What a great way to spin it off, see how the audience responds, and hopefully take it even further. The possibilities for political stories, internal stories, are endless."

Is a JAG Reboot on the Horizon?

David hints at the possibility. "Maybe! I would certainly be open to that if it went in the direction I think would be most interesting, which would be to lead Harmon onto the aircraft carrier." He seems eager to revisit the world of JAG, but only if it aligns with his vision for the character.

Reuniting with Harmon Rabb

David shares that reuniting with his character was a bit odd at first. "It was surreal, but we didn't miss a beat. There are some old crew members that now work on NCIS: LA, so it was like old times." The transition back into the role felt natural, thanks to familiar faces and a shared history.

Favorite Projects Over the Years

David reflects on his prestigious projects, including his role in Mad Men. But when it comes to highlights, playing John Wayne in Trumbo stands out. "It was challenging," he says. "I had almost a full month before I worked to really explore the character, so I completely immersed myself in John Wayne, who I knew nothing about. I hadn't been a fan, but I am now."