The 63-year-old actor has revealed he recently recorded his small role for an upcoming episode of the long-running cartoon comedy.
Appearing as a guest on 'The Chris Moyles Show' on Radio X, Stephen said: "I think I’m allowed to reveal that I did an episode of ‘The Simpsons' a few weeks ago.
Stephen - who has previously starred in a string of popular comedy shows, including 'Blackadder' and 'A Bit of Fry & Laurie' - admitted to relishing the experience.
He explained: "I’m very lucky, I do have a little … I wouldn’t call it a studio, that’s going a bit far... it’s a booth, an audio booth that works very well.
"It’s got a proper mic and this magical thing called Source-Connect, which is like going down the line so you can record in real time with studios around the world."
Stephen also hailed the talents of the show's cast, including Harry Shearer and Nancy Cartwright.
He said: "It’s just so extraordinary. It’s particularly wonderful because of the Zoom thing. When you see Dan’s face, and the scenes I had were with him as Homer and with him as Abe, his father, Gramps. And to see him just moving from one to the other, his face alters slightly as well, and the voices, it’s miraculous.
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