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Keith Richards is offering some insight into his beginnings as a guitar player in his new children's book, Gus and Me.

The Rolling Stones legend explained on Tuesday's "Tonight Show Starring Jimmy Fallon" that his grandfather taught him how to play after he had creatively managed to get his hands on his guitar. 

Keith said he realizes now that his granddad, Theodore "Gus" Dupree, was knowingly dangling the guitar just out of his reach, which made him want it even more.  And now that he has grandchildren of his own, Richards wanted to share those memories with everyone. 

He got a little help from his daughter, Theodora Richards, who was actually named after her great-grandfather.  She illustrated Gus and Me, and even visited "The Tonight Show" with her dad to draw a quick picture of Richards and Fallon talking. 

Keith Richards' Gus and Me is in bookstores now. Check him out on the "Tonight Show" below! 

Photo: YouTube