"He was a really sweet man," Ford said about Mayhew on Thursday. Mayhew portrayed Chewbacca in the Star Wars series, the partner of Ford's Han Solo.
"He had a hard time physically. It was really hard for him to do what he did for us, what he did for all of us. And he did it with real dignity and class," Ford continued about Mayhew portraying Chewbacca.
"He was a really neat guy. I miss him."
Mayhew died earlier this month at the age of 74 at his home in North Texas. He appeared as Chewbacca in five Star Wars films including the original Star Wars in 1977, The Empire Strikes Back in 1980, Return of the Jedi in 1983, Revenge of the Sith in 2005 and The Force Awakens in 2015.
Ford and Fallon also exchanged long-form jokes with each other and spoke about his voice acting role as Rooster the Dog in animated film The Secret Life of Pets 2, which arrives in theaters on June 7.
Ford mentioned that he had never been asked to voice an animated character before but that he enjoyed the experience.