York grower Darren Taylor lost his left leg, the bottom of his right leg and suffered major arm injuries in the incident last year.
Mr Taylor had been running the harvester in preparation for a morning’s work when he slipped and became caught in the machinery.
The dramatic rescue will be shown on the BBC’s new series of Helicopter Heroes which begins on Monday (April 14) morning.
“It only had my foot in to start with and I tried to pull it out with my left hand and then it took my hand and more of my leg,” said Mr Taylor.
“It was then starting to really hurt and I just was calling for help and trying to keep as much of me out of the machine as possible. It was about 20 minutes before someone came and switched the harvester off.”
Emergency crews including the Yorkshire Air Ambulance (YAA) battled to free Mr Taylor, before airlifting him to Leeds General Infirmary.
The father of three was placed in an induced coma for eight says while surgeons battled to save his life.
He spent three months in hospital returning to the family’s Glebe Farm home at Bolton Percy on New Year’s Day.
The 44-year-old has amazed doctors with his recovery and determination to be walking and working again.
He said: “I have had one prosthetic leg fitted and I am hoping to be walking by early summer and want to be back to work by the autumn.
“I have lived and worked on farms all my life. There are times when it’s really tough to stay positive but we have this place and the children and I have had such amazing support from my family and friends; from everyone.”
He paid tribute to the members of the emergency services who saved him and the staff from machinery specialists Grimme UK who helped release Mr Taylor from the machine.
YAA is an independent rapid response charity, which has carried more than 5,400 people in its 13-year history. It needs to raise £9,990 each day to keep its two helicopters in the air and maintained - equivalent to £3.6 million each year.
Without any direct government funding, the only help the charity receives is through the secondment of its paramedics from the Yorkshire Ambulance Service NHS Trust.
Helicopter Heroes which will be shown on BBC1 on Monday, April 14 at 9.15am.