The Making of Back to Earth
A nice little making-of, though it's only about the filming and so sadly lacks detail in how the project came about, what it was really like to be back after 10 years, and various bits of production too (such as the new camera system being used and anything that happened post-wrap -- i.e. CGI).
For my thoughts on the three-part season itself, look here, here and here.
1x03 Episode 3
[Watch it (again) on iPlayer.]