http://www.ukgameshows.com/ukgs/Endurance_UK
This was the show
Also this is a review made on IMDB
In one episode a girl is restrained (along with 4 other contestants) to some sort of table. We are then told by Mr. Hoki that all contestants will be forced to eat food while having their feet tickled by a tickling brush! But that is not all, to demonstrate the tickling device, Mr. Hoki, the other host approaches the ticklish girl and Paul Ross, the main host, questions the lady as to her ticklishness before Mr. Koki tickles her feet - she giggles and laughs and tells Paul Ross that she liked the tickling! We then see all contestants tickled for about 1 minute while they are forced to eat something revolting - SHEEP TESTICLES! I don't believe the sheep enjoyed it either.
https://
www.youtube.com/ watch?v=naT884FQPKU - Only episode I ever found but they didnt do the tickle task for the 1st task