Bear Grylls and Zac Efron
From a wild romance
with Michelle Rodriguez to a crazy stunt in the wild!
, who never seems to run out of opportunities to show off his well-toned chest
, appears in Monday's series premiere of Running Wild with Bear Grylls
to go rappelling, among other things, with the famed adventurer and TV host.
"We reached out to him and he kindly said he was a fan of the show and that he was in 120 percent," Grylls tells PEOPLE. "He asked for the biggest, baddest adventure and it was an honor to oblige."
Grylls, 40, said he chose an area of the Catskills Mountains where special forces used to train back in the 1800s. To give Efron an extra incentive to jump off a cliff with him, he threw their backpacks into the water below.
"I can't believe how high this is," Efron, 26, said on the show before they took the leap.
"I like to think he got to use his muscles to their max through the adventure," Grylls told PEOPLE.
Efron is the first of several celebrities who join Grylls on a series of high-octane trips. Ben Stiller
, Channing Tatum
and NFL Hall of Famer Deion Sanders are also traveling to remote locales in hopes of experiencing a 48-hour journey of a lifetime.
Running Wild with Bear Grylls
airs Mondays (8 p.m. ET) on NBC.
Check out Efron's water-filled adventure below.