The panel were discussing reflexology on the ITV lunchtime chatshow, which Penny saw as the perfect opportunity to divulge that Hot Rod is partial to a bit of toe-licking.
Just what you wanted to hear as you tuck into your lunch, right?
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Penny Lancaster and Rod Stewart
Mark Cuthbert via Getty Images
Penny confessed: “There is that connection between the toes and other areas of your body, like the neck and your ears, so it can be quite sensual.
“In the beginning of the relationship when you're having a go at all sorts of things ... [he did] that sort of in between the toes. It feels nice!”
When asked what Rod used to go “between the toes”, Penny offered: “His fingers or his tongue.”
So there you have it, everyone. Penny and Rod do not mind a bit of “between the toes” action with both “fingers” and “tongue”. What a way to kick-start our weekends, eh?
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Penny 'TMI' Lancaster
Steve Meddle/Rex/ITV
She didn’t leave it there, though, confessing later in the show: “If we're driving into London and we've got that hour-and-a-half journey, we always have a kiss on the back seat and he just likes to see as much of me as he can.”
Just wonderful.
Penny married Rod in 2007, having met him eight years earlier, when she posed for her during a photography session.
During an interview with Alan Carr earlier this year, Rod admitted he “wasn’t worried” about Penny offering too much information on ‘Loose Women’, remarking: “She wouldn’t be married to me if she was that type of girl.
“I watch her every time she is on. I love watching her. I’m proud and she does a really good job.”
‘Loose Women’ airs weekdays at 12.30pm on ITV.
Tap the image below to launch the gallery...
12 Stars You'd Forgotten Were 'Loose Women'
Karren Brady(01 of12)
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Long before she was answering to Lord Sugar, The Apprentice star Karren was letting loose on the ITV daytime show.
She was one of the original line-up of ladies, appearing on the first episode in 1999.
And while her stint was short-lived, ending just a year later, Karren returned to the panel for an anniversary special in 2017, along with the rest of the women who appeared on that very first show. (credit:REX)
Kerry Katona(02 of12)
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Back when she was Kerry McFadden (those were the days, eh?), the Atomic Kitten singer appeared as a panelist between 2003 and 2004.
She was only 23 when she joined the show, making her the youngest Loose Woman regular ever, and her sometimes naive outlook on life meant she often clashed with Sherrie Hewson, providing many hilarious moments. (credit:REX)
Nina Wadia(03 of12)
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She's best known for playing the opinionated Zainab Masood in EastEnders, but Nina offered up plenty of opinions of her own when she appeared as a series regular between 2005 and 2006. (credit:REX)
Gillian Taylforth(04 of12)
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Another EastEnder who graced the Loose Women panel was Gillian Taylforth – better known as Walford's Kathy Beale.
The actress enjoyed two stints as a Loose lady, first in 2006 and again in 2008. (credit:REX)
Cilla Black(05 of12)
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While the late Cilla will be remembered for her huge TV hits Blind Date and Surprise Surprise, her last regular TV gig was actually as a Loose Woman.
She appeared first as a guest anchor in 2009 and was invited back as a regular panelist between 2010 and 2011, returning for a final appearance in 2014. (credit:REX)
Sarah Millican(06 of12)
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In our humble opinion, Sarah's tenure as a Loose Woman was simply not long enough.
The comic only appeared as a panelist for less than a year in 2011, before leaving to concentrate on her stand-up career. (credit:REX)
Beverley Callard(07 of12)
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During one of her many breaks from Coronation Street, Beverley (aka Liz McDonald) took up a seat behind the famous desk in 2010. (credit:REX)
Kym Marsh(08 of12)
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While Kym has recently enjoyed a few turns as a guest panellist, many have forgotten her original stint as a regular on the show in 2005, back when she sported an interesting (if that's the right word?) set of hair extensions. (credit:REX)
Claire Sweeney(09 of12)
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The former Brookside actress enjoyed over two years on the panel back in 2003, and later returned for six episodes in 2010, and a further two in 2012. (credit:REX)
Sheree Murphy(10 of12)
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Sheree was a welcome addition to the panel in 2006, after she finished playing Emmerdale's much-loved Tricia Dingle. While she left in 2007, she later returned as a guest panellist for an episode in 2015. (credit:REX)
Claire Richards(11 of12)
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After the departure of many of Loose Women's biggest names in 2013 and 2014, Steps singer Claire made a string of guest appearances. She impressed bosses so much, she was soon promoted to a regular.
However, a massive revamp of the show in the September of 2014 saw her leave the show with no explanation. (credit:REX)
Jenny Powell(12 of12)
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The Wheel Of Fortune assistant was finally given a break from turning around letters on a board in 2004, when she joined the Loose Women panel for a year. (credit:ITV)