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For two old TV neighbors, all that’s needed for a therapeutic reunion is a ride and a cup of Joe.

On an emotional season finale of Jerry Seinfeld’s Web series, “Comedians in Cars Getting Coffee,” Michael Richards recalls the infamous heckling incident in 2006 that he says “broke me down.” The episode, which was shared with the Associated Press ahead of its online premiere Thursday evening, is a cathartic get-together for Mr. Richards, whose Kramer was hardly separated from Mr. Seinfeld by a door in the nine years of “Seinfeld.”

It’s one of the few times Mr. Richards has appeared in anything since he answered a heckler with racist slurs during a stand-up routine. Years later, Mr. Richards clearly is still scarred from the incident, for which he has repeatedly apologized and which essentially caused his withdrawal from show business.

“I busted up after that event seven years ago,” Mr. Richards tells Mr. Seinfeld over a cup of coffee in Los Angeles. “It broke me down. It was a selfish response. I took it too personally. I should have just said, ‘Yeah, you’re absolutely right. I’m not funny.’”

The title of “Comedians in Cars Getting Coffee” relates its simple premise: Mr. Seinfeld, an avid automobile collector, picks up his guest in a car befitting the guest’s personality. For Mr. Richards, Mr. Seinfeld selected a rusty 1962 VW bus with an interior patched together by duct tape.

Mr. Seinfeld launched the series with little fanfare, letting it pop up on the Internet on its own site, on Facebook and on the Sony Corp.-owned digital network Crackle. With guests including Ricky Gervais and Alec Baldwin, the 15-minute episodes offer a stylized snapshot of comedians in conversation. One guest, “Seinfeld” co-creator Larry David, observed that Mr. Seinfeld had “finally done a show about nothing.”

But the heartfelt and tender episode with Mr. Richards is an exception. It begins, though, with Mr. Richards exuberant about being back together with his old co-star. (In 2009, both also joined in the “Seinfeld” reunion on Mr. David’s “Curb Your Enthusiasm.”)

“Being around you, Jerry, I’m going to turn into that crazy character,” says Mr. Richards, who later adds that he could have played Kramer “for the rest of my life.”

Compiled from Web and wire reports