"It was just lovely to all be in the same room," Schwimmer told ET at the premiere of FX's The People v. O.J. Simpson: American Crime Story at the Westwood Village Theatre in Los Angeles on Wednesday.
"He is a prolific director and he really, really helped forge the cast as an ensemble," Schwimmer shared. "He really clarified all those relationships from the get go."
The 49-year-old actor also revealed that it was one of Burrows' iconic sitcoms that actually sparked his passion for acting and his love of ensemble casts.
"For me, it was the cast of Taxi," Schwimmer said, referring to the classic 1970s ABC sitcom featuring the all-star cast of Judd Hirsch, Danny DeVito, Tony Danza, Christopher Lloyd, Andy Kaufman, Carol Kane and Rhea Perlman. "Something about that show really made me want to do this."
To get into character, he spent time with the late attorney's ex-wife, Kris Jenner, to help capture Robert's spirit.
"I wanted to get it right and luckily I was able to speak to Kris Jenner for some time," Schwimmer shared. "I really got to understand who he was as a father and as a husband. He was such a big devoted family man and he was a man of great humility and faith. That played a major role for me in playing him."
"Ironically, we had just started filming the first season of Friends, so it was really a kind of bizarre experience for me to be suddenly have this exciting break as an actor and at the same time, still very much connected and plugged into what was happening in reality," the star recounted.
"I remember watching the trial," he added, "and on the set, occasionally we would all gather to watch."