Nicole Kidman and Keith Urban - April 3, 2016 - LEAD
Credit: C Flanigan/FilmMagic

Nicole Kidman has taken on many roles throughout the years: family-oriented witch, Parisian prostitute, wife of Ernest Hemingway, and even the late Virginia Woolf—however, we’re sure she’d agree that the toughest part she’s ever played is that of a real-life parent.

The actress and her husband of ten years, Keith Urban, have two daughters of their own: Sunday, 8, and Faith, 6. Kidman also has two grown children from her marriage to Tom Cruise: Isabella, 24, and Connor, 21.

As seasoned parents, Urban and Kidman know a thing or two about keeping the sparks flying while still focusing their energy on their children. The main hurdle? Finding alone time.

VIDEO: At the Cover Shoot With Nicole Kidman

Kidman shared her method for grabbing some sexy time while the kids are home. It’s simple, really: “[We tell them] Mommy and Daddy need to have kissy-kissy time,” Kidman told “The Moms” Denise Albert and Melissa Musen Gerstein, according to Page Six.

Honest yet discreet—good mom lingo, Nicole!