The Beatles at Home
03/02/2013 AT 06:00 PM EST
"We were friends," says the former photographer for both Life and PEOPLE, now 76. "I almost didn't know them as performers."
His new 500-page photo book, Places I Remember, features nearly 1,000 never-before-seen photos taken at the height of the band's fame, between 1964 and 1968. Why did it take him so long to share?
"I had pictures I didn't know had never been seen," says Grossman.