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07/21/2014 09:27 am ET | Updated Jul 21, 2014

The Last Time Jaclyn Smith Saw Her 'Charlie's Angels' Co-Star Farrah Fawcett (VIDEO)

It's been five years since Farrah Fawcett passed away from rectal cancer, and her "Charlie's Angels" co-star Jaclyn Smith still tears up sharing certain memories of their time together.

During Fawcett's battle with cancer, Smith says the two became even closer than they had been over the course of their decades-long friendship. "That last six months [of her life] was a very close time for us," she tells "Oprah: Where Are They Now?" in the above video, before getting emotional. "To see someone fight a battle like that was beautiful."

Smith clearly remembers the last time she saw Fawcett. "She had come for dinner and she wanted some high heels that I had, and I said, 'I'll order them for you or you can have mine,'" Smith says. "[She responded], 'No, you keep those and I want new ones.' She was just funny. Farrah was funny!"

As Fawcett's health declined, Smith's mother, Margaret, also became ill. Margaret was in the hospital when Fawcett passed away, but insisted that Smith leave her side to attend the funeral.

"This is sort of hard to talk about," Smith says tearfully. "I did get on the plane, but when I landed, I got a call that mom had a drawback and had been put on a respirator. So, I did not get to go to [Farrah's] funeral. But I think in my heart of hearts, I knew Farrah understood."

Seven weeks after Fawcett's death, Smith lost her mother as well. That's when Smith's assistant, Alana, shared some powerful words that continue to touch her to this day.

"Alana wrote me something and I shouldn't even say it because it will make me cry," Smith says, taking a deep breath. "'They're everywhere and they're nowhere, but they're there.' ... It's beautiful because that's true. They're here."

"Oprah: Where Are They Now?" airs Sundays at 9 p.m. ET on OWN.

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