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The Official Penny Dreadful Tumblr has shared some behind the scenes tit-bits from season 1, including Joseph's guest episode 'Closer than Sisters'. The scene in question is embedded below. 

Joseph's guest episode of Penny Dreadful 'Closer than Sisters', airs on Showtime tonight at 10pm. The official site has shared a new clip, which features Joseph as Captain Branson. 

Joseph's guest role as Captain Branson in the Showtime series Penny Dreadful will be seen in episode 5 'Closer Than Sisters', and not episode 6 as I mistakenly posted on here. Apologies, I misread an email. The good news is that his episode will air on Showtime on June 8th at 8pm. Even better news - 2 new hi-res stills of Joseph in character have been shared on here. Thanks to Lorna for spotting the photos.