Teresa Giudice Gets Candid About the First Time She Had Sex With Husband Joe After Prison

This video is unavailable because we were unable to load a message from our sponsors.

If you are using ad-blocking software, please disable it and reload the page.

Teresa Giudice got candid about her post-prison sex life, revealing that she hooked up with her husband the very first night after getting released.

"[It happened] in the middle of the night," Teresa told Andy Cohen during the second episode of her two-part Watch What Happens Live appearance.

The 43-year-old Real Housewives of New Jersey star said she and her husband had to wait until late into the evening to rekindle their flame, because their four daughters celebrated her return by sleeping in their bed as one big family.

WATCH: Teresa Giudice Says Urine and Blood Stains Were on Her Prison Bed: 'It Was Disgusting'

To find some privacy, the couple "visited other rooms" in their house throughout the night.

Sex talk aside, Teresa also opened up about how they’re preparing their kids for Joe’s 41-month prison sentence, which begins in March.

"We told them that daddy's gonna go to work but obviously Gia knows," said Teresa, referring to her eldest daughter, 15-year-old Gia Giudice.

"They love mommy, so whatever mommy tells them, goes," she said of her younger daughters. "When they get older, believe me, Joe and I will tell them everything."

WATCH: Teresa Giudice Says She's 'Happy to be Home' in First Post-Prison Red Carpet Interview

Teresa also revealed what she learned most and how she's changed since leaving prison after nearly a year -- an experience that she described in harrowing detail during the first part of her WWHL special.

"I'm definitely calmer. I try not to sweat the small stuff," Teresa shared. "I'm living everyday like it's my last [and] focusing on my family."

Check out the video below to hear more from Teresa about what life behind bars was really like.