The Hollywood actor revealed to fans on Facebook that he had jumped out of a plane with his two boys on Monday (3 February) and even posted a couple of photos to prove their bravery.
One of the snaps is an action shot that shows 15-year-old Jaden - whose mother is Jada Pinkett Smith - strapped to a professional diver, as they fall through the sky.
And although we can't see his face up close, it looks like the teenager is coping pretty well with the terrifying activity!
In fact, Jaden then nonchalantly added the picture to his Twitter profile with the simple caption: "So Yeah This Happened".
The second image uploaded by Will on Facebook is a lot more heartwarming (and less scary!) and shows the 45-year-old embracing his boys after their successful skydives.
Eldest son Trey - Will's child from his first marriage - can be seen looking particularly pleased to have jumped from the plane and to be back on the ground, as he is grinning widely for the camera while placing an arm around his dad and his younger brother.
Alongside the photos from their adrenaline-packed day, Will joked: "I jumped with Trey and Jaden today. I kept thinking to myself, 'This potentially may be the individual worst display of parenting in African-American history.'"
Well, we beg to differ. If anything, this is a pretty cool (and courageous!) display of parenting (when done safely!) - though we would expect nothing less from the Fresh Prince!
Would you ever go skydiving? Let us know below, as the best comment from across the website each week wins £50!
Got an iPad or iPhone? Reveal Mag has been especially designed to fit!