The “7th Heaven” Cast Had 'Instant Chemistry' on Day 1: 'We All Liked Each Other' (Exclusive)

Beverley Mitchell, Barry Watson and Catherine Hicks made an appearance together at 90s Con earlier this year, where they reflected on cast's chemistry

Beverley Mitchell, Barry Watson and their onscreen mom Catherine Hicks are feeling grateful for each other — and their other 7th Heaven family members — nearly 30 years after the series launched.

"I always just think of the pilot episode, when we all were sort of like forced into having instant chemistry," Watson tells PEOPLE while chatting during an appearance at at 90s Con in Connecticut earlier this year. "And it sort of matches, sort of happened."

The 243-episode series followed the Camden family of seven children, helmed by Reverend Eric Camden and his wife, homemaker Annie (Hicks). That 1996 pilot aired 27 years ago on the WB TV network.

Watson, 50, portrayed eldest Camden son, Matt Camden, while Mitchell, 43, was his sister Lucy Camden in the drama though all 11 seasons, until the finale in 2007.

Related: David Gallagher Says 7th Heaven Episode Where Dog Happy Gets Hit by a Car 'Was Really Heavy for Me'

“The pilot episode, I think to me, was probably pretty special. And then every episode after that it was just — everything sort of blends. It's one, long episode,” Watson says during the September interview.

Hicks, 73, similarly cherishes the group's immediate bond.

“It's so exciting when you do a show, you do the pilot and then you find out ‘Oh my gosh, I think it’s it,' ” Hicks tells PEOPLE.

Mitchell says, "I think we got pretty lucky. We're a show that we all got along, we all liked each other, we all had mutual respect for each other. There was no competition between any of us. It was a very comfortable set for guest stars to come on."

And the series did draw some pretty notable guest appearances throughout its run.

“We had awesome guest stars," Hicks says. "Like movie stars from the '40s, '50s, '60s, then-current stars. Pat Boone, Phyllis Diller, Richard Lewis."

Related: Yes, the 7th Heaven Cast Has Seen Those Hilarious Recap TikToks — Here's What They Really Think of Them

Watson also reveals that the series has reached the next generation — his own children.

“My 16-year-old son Felix decided to binge watch every season and he did it in like a couple weeks. He kept watching! And then my oldest son, no, he thought it was kinda cheesy,” Watson says.