Colonel Jim Taylor, of 2nd Battalion, Royal Regiment of Fusiliers, had taken command just three weeks before Lee Rigby's death.
The first time he addressed his soldiers was to deliver the news of their comrade's murder.
He told ITV News correspondent Geraint Vincent that it was a "tragic set of circumstances and a brutal way to die."
He also said the Fusiliers "have become very resilient in their outlook in the way that they have dealt with deaths on operations...and to the tragic events - terrorist related - of Lee's death.
"It is a bitter experience for everyone to go through, regardless of how it happens," he added.
In her only television interview since the verdict, she told ITV News that she begs forgiveness from Lee Rigby's family.
A mother and daughter who witnessed the attack on Lee Rigby have told ITV News how they are still haunted by what they saw that day.
Lee Rigby's sister told ITV News that she wishes she had not talked her brother out of returning to Afghanistan shortly before his death.