The team investigates the death of Marine Sergeant Michael Dawson, who was apparently killed trying to stop a robbery attempt. As the team tries to track down the robber, Leroy Jethro Gibbs receives a call from the police that his father, Jack, had just had his driver's license revoked and needs to be picked up from the station. Gibbs picks up Jack, who informs him that they need to go see Walter Beck, an old acquaintance who saved his life during World War II. Walter is dying, and Jack has never thanked him for his help. Gibbs reluctantly leaves the case to McGee and DiNozzo while he assists his father. However, their search leads to an apparent dead end, with McGee not being able to find any record of a Walter Beck in Jack's squadron. Thinking his father is either lying to him or showing signs of dementia, Gibbs returns to Washington to take charge of the case again.

Eventually, the team discovers that the robbery was a setup, as Dawson was the real target. They track down one of Dawson's old friends, who admits that Dawson was trying to help him overcome his drug addiction and went to confront his dealer, which resulted in Dawson's death. The friend identifies the store owner as the drug dealer, and a quick search of his store gives them all the evidence they need to convict him.

Afterwards, Gibbs confronts Jack about making up the story about Walter, pointing out there was nobody in his squadron with that name. Jack explains that Walter was a German Luftwaffe pilot who saved his life despite officially being his enemy at the time. With this new information, Abby is able to track down where Walter is staying, and Jack and Walter have an emotional reunion, with Jack introducing his son to Walter. Jack had explained that Walter was wracked with guilt for fighting in the war despite never believing in Nazism, and Jack wanted to ameliorate his guilt, by showing that Walter not only saved Jack's life, but made it possible for Gibbs to be born, and Gibbs is a government agent who solves crimes and has helped countless people.

"Better Angels" is written by Gina Monreal and directed by Tony Wharmby. On the day the episode aired, executive producer Gary Glasberg revealed some insight, and said it was an emotional story "based on some real historical storytelling". The episode also featured "some terrific flashbacks to young Jackson Gibbs".^[2]

Ralph Waite's return as Jackson Gibbs, the father of Leroy Jethro Gibbs, was announced by Glasberg on September 30, 2013.^[3] This episode marks Waite's final appearance as Jackson Gibbs, as the actor died on February 13, 2014.

"Better Angels" was seen by 19.18 million live viewers at its November 5, 2013 broadcast, with a 2.9/8 share among adults aged 18 to 49.^[1] A rating point represents one percent of the total number of television sets in American households, and a share means the percentage of television sets in use tuned to the program. In total viewers, "Better Angels" was the highest rated show on the night it aired.

Douglas Wolfe from TV Fanatic gave the episode 4.8/5 and stated that "the dynamic between Gibbs and his father proved to be the more compelling story [in the episode]. [...] I can't think of another such complicated - and therefore real - father-son relationship on TV right now. Gina Monreal - who wrote this episode - deserves high praise for getting it right."^[4]