July 13, 2012 01:00 PM

He went to help Kelsey Grammer with his unruly dogs, but Cesar Millan ended up getting a little advice from the actor in return.

“We both were going through our divorce; it really turned into almost like therapy for me,” says Millan, who works with Grammer in an upcoming episode of the Dog Whisperer, now in its final season. “Obviously, I helped him with his dogs … But I got to be with the human side of him. I think that show was more for me than anyone else.”

Grammer, whose 2010 split from Camille Grammer played out on The Real Housewives of Beverly Hills, welcomed Millan into the home he shares with new wife Kayte to help with dogs who were destructive and barked at people on walks. “They were little bitty dogs, but they were pretty vicious,” Millan recalls. “His wife was pregnant, they didn’t want the barking, they didn’t want the pee [around the house]. And they wanted to take the dog on the stroller and none of that was possible.”

The actor used the trainer’s principles to nip those problems in the bud – and through the process, Grammar and Millan, who split from wife Ilusion in 2010 after 16 years of marriage, formed a friendship. Over Mexican food they discussed “what people go through [in a divorce] and how you deal with certain things,” says Millan. “It was a very nice man-to-man talk that we got.”

It was a bittersweet way to wrap up the final season of the Nat Geo Wild show. Now in Spain filming Leader of the Pack, a new series in which families compete for rehabilitated rescue dogs, Millan says he’s excited by the next chapter of his life, which he’s sharing with his girlfriend, Jahira Dar, and his 13-year-old son, Calvin.

“It’s a different relationship that I have; we go together as a family, which was something that I didn’t get do in the past,” he says. “I was not allowed to go as a family all over with the kids, and Calvin travels with a teacher and Jahira and it’s really good. That’s really what I really wanted.”

Catch the final season of Dog Whisperer with Cesar Millan Saturdays at 8 p.m. ET on Nat Geo Wild.

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