T’Keyah Crystal Keymáh is back playing Raven Baxter’s mother Tanya after last appearing as the character over 16 years ago.

The actress, who originally played the character That’s So Raven, told Entertainment Tonight that she is happy to be back.

“It’s so exciting. I can’t believe it,” she said. “It was telling my sister Karen that I’ve done so many huge things in my career. And usually you don’t realize how big they are until after…But I’m very, very aware of how excited people are about this return because they’ve been clamoring about it for years.”

She said she didn't learn until years later that fans noticed her character's absence, who was written as going to London for law school. Her return from London comes as she celebrates her husband Victor's [Rondell Sheridan] 60th birthday.

“…[I]t’s like over the years, ‘Where is she? Where is she?’ And when Rondell did a guest spot, I was like, ‘Whoa, I see the dad. Where’s the mom?'” she said. “I’m just thrilled for me and for my fans that finally, finally I get to play a character that I created 20 years ago.”

Keymáh said she's stayed in touch with Raven-Symoné and that she'd "do anything for Raven."

“She’s just my heart. I love her so much. I’m so proud of her,” she said. “I told a lot of people, if Raven is asking, the answer is, yes. We’ll work the details later.”

She also said that going back on set was like nothing had changed since she was last on 'That's So Raven.'

“I thought, ‘Oh, I’m home. This is my living room. Me, Tanya Baxter. This is my kitchen. This is my husband’s restaurant, The Chill Grill. I’m good,” she said. “It’s just felt like I’ve been away for a minute and then came back. She, Tanya Baxter, was so familiar to me that it was easy to jump back into her shoes, literally. And to have Rondell there and to have Raven there, it was just so familiar. Because I’ve seen this show, when I looked at Isaac [Ryan Brown, who plays Booker, Raven’s son], I thought, ‘Well, that’s my grandson!'”

Raven's Home airs Fridays on the Disney Channel at 9/8c.

Watch the interview below: