"I had my sister crying on the boat and a few other people crying just because they could see how much pain I was in.
"When I finally got there I could barely stand but it was just great. My parents actually sent me a card and it just said 'Bill would have been so proud of you'. And every time I think of that I cry. I've got tears in my eyes now. It was all for him."
Living with Tad
Luckily Stephen had been preparing for the swim for eight months, but the hardest thing was getting used to England's freezing water.
"The first time I got in I could only last half an hour before I just had to get out, I couldn't take it," he said. "But I didn't have any problem with the water temperature the whole way which was my biggest fear."
Stephen's now planning to live in London for a bit, where he shares a flat with old Neighbours pal, Jonathan Dutton, who plays Tad. They're hanging out with Daniel MacPherson, who played Joel.
"It's great fun, they're two great boys and I've known Daniel since High School, we're really good friends. I'm looking forward to some good times. We're just hanging out and looking to further our careers."
But he's had enough of swimming for a while.
"I love my swims but that was really horrible," he said. "I'm never doing it again."
And his advice to the rest of us?
"Catch the ferry!"