The actor – who plays legend Ken Barlow in the ITV soap – has told how he received a text message while on set in March telling him that his daughter Vanya was about to succumb to her liver disease and he raced to see her.
He revealed to the Mirror how he drove non-stop from Manchester to London to pick up his son Will before heading to Chichester to say goodbye to Vanya who was in hospital there.
However the snowy conditions and the sat-nav conspired to send the pair down a country road where they slid through a sign, over a traffic island and into a hedgerow, damaging their car severely.
By then 10.30pm, a recovery service was unable to get to him for five hours and by the time they did Vanya had sadly died.
He said: "The pain of losing a child is unbearable.
"To not be able to say goodbye to Vanya was awful but I take some comfort in knowing she is in a better place and at peace.
"But your children going before you is horrendous."
He added: "You're responsible for your children. There's a feeling of guilt if your children die you feel you should have let that happen."
Bill also hit back at claims he was estranged from his 50-year-old daughter, insisting he had seen her just weeks before as she battled the disease that claimed her life after three years.
The actor has revealed how he has found comfort in his belief in an afterlife, saying that humans are "eternal" and that "dying is brilliant."
However he added: "It may seem an awful thing to say. However you miss them and you're entitled to miss them."
Bill also lost his daughter Edwina at just 18 months old in 1984, while his second wife Sara tragically died mid-conversation at home of a heart condition.
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