The New Adventures of Robin Hood (1997) : 3x11

Robin plans a surprise birthday party for Marion, but is killed while defending her in a fight to capture some of Prince John's gold. Because he died too early, his soul is sent back to Earth, but has to find another body to inhabit, as his has already been cremated. Robin is helped by Ripley, an envoy from the realm of the dead, who enables Robin to temporarily take over the body of the man he has just killed, Briggs, and by Olwyn's apprentice, Rowena, who tries to get him his own body back.