Last New Year's Eve, Millen, a New Zealand native, was hoping to make history of his own by completing the first backflip of an off-road truck. But while on a practice run, his specially designed truck missed the landing area completely and landed directly on its roof.
Millen suffered three broken vertebrae in his neck and two in his back.
"This was really hard for me to be hurt in the fashion that I did," Millen said. "For 16-plus years of racing, I've never sustained an injury, broken bone or anything. You're going to make mistakes when you're pushing those boundaries and we got caught off guard."
After recovering from his injuries, Millen says the hardest part was convincing his family to let him try it again. For him, he said, there was no other choice.
"I was injured, but not enough to break my mind," Millen said. "You can break my body, but you can't break my mind. We're back this year, strong, fit and ready to do it."
Tune in to ESPN on Wednesday, Dec. 31 at 11 p.m. ET/8 p.m. PT to see Rhys Millen and Robbie Maddison jump in "Red Bull: New Year. No Limits in Las Vegas".