EXCLUSIVE: Alexander Skarsgard and Margot Robbie Talk Animalistic Love Scenes in 'The Legend of Tarzan'

The sexy co-stars gave ET all the steamy details behind their on-screen jungle romance.

The Legend of Tarzan co-stars Alexander Skarsgard and Margot Robbie have a ton of chemistry, and they dished on all the steamy details of their on-screen jungle romance in a behind-the-scenes interview.

"I think it's difficult with someone like Margot to not have great chemistry, because she's the most lovely, warm personality," Skarsgard said. "It didn't take long. We had so much fun together."

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Skarsgard plays the titular character in the action-adventure movie, who is called back to his former home in the jungle after acclimating to life in London. Tarzan's presence is required to investigate the activities at a mining encampment.

When Tarzan goes back to his old stopping grounds, Jane (Robbie) tags along, leading to some innovative love scenes.

"We just did that scene in a tree -- our first kiss scene," Robbie said. "Having sex in a tree, as you do."

Some of the love scenes were filled with so much passion that Skarsgard actually sustained an injury. Earlier this year, the 39-year-old actor told ET earlier that Robbie hit him while filming to make the scene more animalistic.

"This is what passion looks like," Robbie, 25, said on set. "We ripped my costume just a wee little bit, but that's alright."

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It's that unfettered passion that separates this new version of Tarzan from all the rest. "It's almost if the novel and all the adaptations are about taming the beast," Skarsgard explained. "This is about releasing the beast."

The Legend of Tarzan opens July 1.