Teresa Giudice gets candid about the first time she had sex with husband Joe after prison

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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.

See photos of Teresa and Joe Giudice from over the years:

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Teresa Giudice gets candid about the first time she had sex with husband Joe after prison
NEWARK, NJ - AUGUST 14: Giuseppe 'Joe' Giudice (L) and wife Teresa Giudice leave court after facing charges of defrauding lenders, illegally obtaining mortgages and other loans as well as allegedly hiding assets and income during a bankruptcy case on August 14, 2013 in Newark, United States. (Photo by Mike Coppola/Getty Images)
WATCH WHAT HAPPENS LIVE -- Episode 11159 -- Pictured: (l-r) Teresa Giudice, Joe Giudice -- (Photo by: Charles Sykes/Bravo/NBCU Photo Bank via Getty Images)
FILE - In this Oct. 2, 2014, file photo, "The Real Housewives of New Jersey" stars Giuseppe "Joe" Giudice, center, and his wife, Teresa Giudice, right, of Montville Township, N.J., walk toward the Martin Luther King Jr. Courthouse before a court appearance, in Newark, N.J. Joe Giudice is set to appear in Passaic County court on state false identification charges. He is accused of using his brother's identity to obtain a driver's license while his own license was suspended for driving while intoxicated in 2010. (AP Photo/Julio Cortez, File)
NEWARK, NJ - NOVEMBER 20: Teresa Giudice (R) and her husband Giuseppe 'Joe' Giudice leave Newark federal court on November 20, 2013 in Newark, New Jersey. The two of the stars of the Bravo television show 'The Real Housewives of New Jersey' are appearing in court to face additional charges of bank fraud and loan application fraud in addition to original charges of defrauding lenders, illegally obtaining mortgages and other loans as well as allegedly hiding assets and income during a bankruptcy case. (Photo by Kena Betancur/Getty Images)
NEWARK, NJ - AUGUST 14: Giuseppe 'Joe' Giudice (L) and wife Teresa Giudice leave court after facing charges of defrauding lenders, illegally obtaining mortgages and other loans as well as allegedly hiding assets and income during a bankruptcy case on August 14, 2013 in Newark, United States. (Photo by Mike Coppola/Getty Images)
NEWARK, NJ - NOVEMBER 20: Giuseppe 'Joe' Giudice (R) and wife Teresa Giudice arrive to Newark federal court on November 20, 2013 in Newark, New Jersey. The two of the stars of the Bravo television show 'The Real Housewives of New Jersey' are appearing in court to face additional charges of bank fraud and loan application fraud in addition to original charges of defrauding lenders, illegally obtaining mortgages and other loans as well as allegedly hiding assets and income during a bankruptcy case. (Photo by Kena Betancur/Getty Images)
Giuseppe "Joe" Giudice, 43, left, and his wife, Teresa Giudice, 41, of Montville Township, N.J., walk out of Martin Luther King, Jr. Courthouse after a court appearance, Wednesday, Nov. 20, 2013, in Newark, N.J. The two cast members of "The Real Housewives of New Jersey" pleaded not guilty to charges of bank fraud and loan application fraud. Authorities allege the couple prepared a mortgage loan application stating that Teresa Giudice worked as a real estate agent and made $15,000 a month. In reality, authorities say she was not employed. (AP Photo/Julio Cortez)
FILE - This Sept. 13, 2009 file photo originally released by Oral-B Pulsonic shows "Real Housewives of New Jersey" stars, Teresa Giudice, left, and her husband Joe Giudice at the Caravan Fashion Show sponsored by Oral-B Pulsonic in New York. Teresa and Giuseppe “Joe” Giudice were charged in a 39-count indictment handed up Monday, July 29, 2013, in Newark, N.J. The two are accused of submitting fraudulent mortgage and other loan applications from 2001 through 2008, a year before their show debuted on Bravo. Prosecutors say they made false claims about their employment status and salaries. (AP Photo/Oral-B Pulsonic, Gary He)
FREEHOLD, NJ - DECEMBER 26: Teresa Giudice, Gia Giudice and Joe Giudice pose at iPlay America on December 26, 2014 in Freehold, New Jersey. (Photo by Dave Kotinsky/Getty Images)
PARSIPPANY, NJ - JULY 13: Joe Giudice and Teresa Giudice attends the 'Real Housewives Of New Jersey' Season Six Premiere Party on July 13, 2014 in Parsippany, New Jersey. (Photo by Manny Carabel/Getty Images)
PLAINFIELD, NJ - MARCH 01: Joe Giudice and Teresa Giudice attend the Fabellini Bottle Signing and Tasting at Costco on March 1, 2014 in Plainfield, New Jersey. (Photo by Bobby Bank/WireImage)
NEW YORK, NY - SEPTEMBER 09: Joe Giudice and Teresa Giudice attend the OK! TV Launch Celebration at Lavo on September 9, 2013 in New York City. (Photo by John Lamparski/WireImage)
HOLLYWOOD, FL - AUGUST 10: (EXCLUSIVE COVERAGE) Teresa Giudice and Joe Giudice host Absolutely Fabulous held at The Seminole Hard Rock Hotel and Casino at Pangaea Lounge on August 10, 2013 in Hollywood, Florida. (Photo by Larry Marano/WireImage for Pangaea Lounge)
FORT LAUDERDALE, FL - JUNE 21: Teresa Giudice and her husband Joe Giudice greets fans and signs copies of 'Fabulicious On The Grill' at Books and Books at Museum of Art on June 21, 2013 in Fort Lauderdale, Florida. (Photo by Vallery Jean/FilmMagic)
CORAL GABLES, FL - JUNE 20: Teresa Giudice and Joe Giudice signs copies of her book 'Fabulicious on the Grill' at Books and Books on June 20, 2013 in Coral Gables, Florida. (Photo by Vallery Jean/FilmMagic)
DOMINICAN REPUBLIC - MARCH 04: Teresa Giudice, Audriana Giudice and Joe Giudice pose at Majestic Resort on March 4, 2013 in Punta Cana, Dominican Republic. (Photo by Dave Kotinsky/Getty Images)
UNSPECIFIED, DOMINICAN REPUBLIC - MARCH 03: (EXCLUSIVE COVERAGE) Teresa Giudice and Joe Giudice at the Majestic Resort in Punta Cana on March 3, 2013 in UNSPECIFIED, Dominican Republic. (Photo by Dave Kotinsky/Getty Images)
HAWTHORNE, NJ - DECEMBER 03: Teresa Giudice and Joe Giudice attend the Posche Fashion show at The Bottagra on December 3, 2012 in Hawthorne, New Jersey. (Photo by Dave Kotinsky/Getty Images)
TOWACO, NJ - JULY 13: (EXCLUSIVE COVERAGE) Teresa Giudice and Joe Giudice pose at a Teresa Giudice Family Portrait Session on July 13, 2012 in Towaco, New Jersey. (Photo by Dave Kotinsky/Getty Images)
WATCH WHAT HAPPENS LIVE -- Episode 701 -- Pictured: (l-r) Teresa Giudice, Joe Giudice -- (Photo by: Peter Kramer/Bravo/NBCU Photo Bank via Getty Images)
PLAINVIEW, NY - JANUARY 14: Television personalities Teresa Giudice and Joe Giudice attend the Experience Italy Benefit For Harboring Hearts at Ferrari Maserati Of Long Island on January 14, 2012 in Plainview, New York. (Photo by Steven A Henry/Getty Images)
VERONA, NJ - JULY 27: Joe Giudice and Teresa Giudice promote 'Fabulicious' at DiPaolo Bakery on July 27, 2011 in Verona, New Jersey. (Photo by Dave Kotinsky/Getty Images)
MIAMI BEACH, FL - MAY 21: Joe Giudice and Teresa Giudice attend the book signing for Teresa Giudice's new cookbook Fabulicious!:Teresa's Italian Family Cookbook at Books and Books on May 21, 2011 in Miami Beach, Florida. (Photo by Olivia Salazar/WireImage)
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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.

Teresa Giudice on Life Behind Bars: 'It Was Hell'

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