I know i'm a couple of years late in posting this, but I only came across this thread now. I found the "Dangerous Companions" video on YouTube, and there's also a book called "Part of the Pride - My life among the big cats of Africa" by Kevin Richardson.
Most folks seem to misunderstand the video though, and have the impression that Kevin is living among wild lions, while he's clearly working with captive lions most of which he hand-reared.
Here's the link to the "Dangerous Companions" video :
