Farrah Fawcett died at age 62 after a long, painful battle with cancer. And Tuesday marked the 10th anniversary of the bombshell blonde's passing. Her Charlie's Angels co-star Jaclyn Smith talked to People about the last time she saw her friend of 40 years. 'She was in pain and couldn't stay still,' said the brunette beauty. 'I was rubbing her feet, trying to make her feel better. And that relaxed her. We must have talked for three hours about our lives, about our children, about growing up in Texas. The time I spent with Farrah at the end was the best because we appreciated the friendship.' Sad loss: Farrah Fawcett died at age 62 after a long, painful battle with cancer. And Tuesday marked the 10th anniversary of the bombshell blonde's passing Smith, 73, also said that Farrah was 'relentless in her fight.' Fawcett filmed her cancer fight for a documentary, even showing her bald head after chemo and radiation. And she broke down in tears when hearing tumors had returned to her liver. 'Who would have dreamed that this girl who was known for the smile and the hair and the glamour would open up the depths of her soul to share with the world?' Smith told People. Bad end: Her Charlie's Angels co-star Jaclyn Smith talked to People about the last time she saw her friend of 40 years. Seen in 2018 at a Farrah Fawcett Foundation event in Beverly Hills The looker from Texas, who was married to Lee Majors and had a long relationship with Ryan O'Neal, launched The Farrah Fawcett Foundation to raise money for research and education. When Farrah first told Jaclyn she had cancer, she said the diagnosis shocked her. 'She said, "I always thought I might get breast cancer or heart disease but never this" and she started to cry,' said Smith. 'I never saw her cry after that.' Last chat: 'She was in pain and couldn't stay still,' said Smith. 'I was rubbing her feet, trying to make her feel better. And that relaxed her. We must have talked for three hours about our lives, about our children, about growing up in Texas.' Farrah in 2004 And their friendship was real: 'What I remember about Farrah is that as much of an eight-by-10 glossy as she was, she was the friend who cheered me on, the girl who loved her parents, the girl down the street. 'Together, we shared the ups and downs of life, of happiness and sadness. I miss her every day. A lot of people are gone now and that's hard. I miss them and it's okay to miss them.' Smith also touched on the years that she made Charlie's Angels with Fawcett. A team: Fawcett had an on and off relationship with Ryan O'Neal for 30 years. Seen in 2003 She said that the two, as well as co-star Kate Jackson, had 'each other's backs' on the set. 'It was like a college dorm, eating in our trailers together,' said Jaclyn. 'Sometimes we'd shop on weekends for what we were going to wear. We were not just actresses working, but girlfriends and it remained that way for 40 years.' Most people think that Farrah was on Charlie's Angels for all five years, but she actually left the series after season one to pursue dramatic work. Angel time: Smith said the three ladies were very close and had 'each other's backs' on the set. Seen in 1976