The Navy Seal who put two bullets in the terror mastermind's head describes that night in Pakistan.

Audio clip:

He helped recover "The Lone Survivor". He helped rescue Captain Phillips. And he killed Osama Bin Laden.

Former Navy Seal Robert O'Neil spent 17 years in the Navy Seals and has some incredible stories to tell.

On Tuesday's show, Tom sat down with O'Neill to discuss some of those stories and his new book, "The Operator: Firing the Shots that Killed Osama bin Laden and My Years as a SEAL Team Warrior".

O'Neill went in to meticulous detail describing some of the missions he was part of including the evening he and his Seal team broke in to Pakistani compound in the middle of the night and killed Osama Bin Laden.

O'Neill confessed that his entire team thought the operation to kill Bin Laden was a "one way mission". Before entering the compound, the group of Seals assumed they would either be captured, shot or blown up by a suicide bomber.

"We thought we were gonna die," O'Neill said.

Tom asked O'Neill what he saw as he went from room-to-room and what was going through his mind. He even discussed why chose to shoot the mastermind of 9/11 in the face, verse trying to take him alive.

LISTEN to O'Neill's incredible story above.