Teri Hatcher takes it off on Sunday night's episode of "Desperate Housewives" and only ET's Mark Steines is at the strip club for all the action!

It all begins when Susan (Hatcher) discovers that hubby Mike (James Denton) frequents strip clubs and tries to convince her that it is not a big deal. So Susan decides a little payback is in order, giving Teri the opportunity to show off the stripping skills she learned from Sheila Kelley, who runs a company called S Factor.

"They have a whole routine of exercise based around stripping, stripping moves and pole dancing," Teri tells Mark. "But really what reached me when I started doing it was the inner confidence it brought out, not so much the exercise -- although you have to be incredibly strong to do all the very advanced things."

It has been four years since Teri took classes from Sheila, so when she saw the script called for her to strip, she picked up the phone and called her former teacher, who helped her choreograph the routine.

So how did she do?

"It looked good," Mark tells her after watching her strut her stuff, "but you have your sense of humor in it, which is great."

"That's why I'm comfortable with it, because at the end of the day it's a comedic scene between Mike and Susan and that's what I wanted it to be," Teri says.

Teri says she is also comfortable with the outfit, part of which came from Trashy Lingerie.

"Because I work for Disney … at Disney, you're not allowed to have a wardrobe malfunction," she jokes with Mark. "There are no nipples at Disney."

The "You Gotta Get a Gimmick" episode of "Desperate Housewives" airs Sunday, January 10 at 9 p.m. on ABC.