Nick Offerman and Megan Mullally did some off-screen homework before getting on the set of Parks & Recreation.

During an episode of Ted Danson‘s Where Everybody Knows Your Name podcast, the longtime couple — who have been married since 2003 — reflected on their time together on the hit sitcom. Mullally previously took on the role of Tammy Swanson II, Ron Swanson’s (Offerman) conniving and ruthless second ex-wife who often uses her charm to seduce him. She first debuted in the season 2 episode “Ron and Tammy,” which premiered in 2009.

“I mean, when they came up with the idea and Megan agreed to do it, she took me out in the backyard for a kissing practice,” Offerman recalled, adding that they performed “violent, disgusting, kissing.”

The duo’s scenes on Parks & Rec were often wild and sexually charged. Looking back at filming their first scenes together and how their natural chemistry as husband and wife bled into their onscreen portrayals, Mullally said their “very first scene” involved the fictional exes “desperately trying to get to this motel so that we could like get it on.”

“I was like, ‘I’m gonna take my bra off'” the Will & Grace alum laughed. “So I took my bra off, and they were like, ‘action!’ So he screeches into this parking lot and I throw my bra out the window of the car. We get out of the car, I slam the doors, run in, and I pulled my sweater off. They had to put like a dark circle to blot out my boob. We ran into the motel and then this guy comes over and he’s like, ‘hi, I’m Troy [Miller], I’m the director.'”

“Great first take,” Offerman, 54, said to which Mullally, 65, added, “And they used it!”

Another scene involved them meeting at a diner and ended with the two “wildly, like, making out on the table.”

“That same day we went to a diner and they, at a certain point, were like, ‘just do whatever you need to do,'” she explained. “So we were like wildly like making out on the table. They had, you know, atmosphere people, as customers, so we were throwing food at people. We asked them first if we could do it!

Mullally continued, “Then Nick, at one point, was so like Ron Swanson, so riled up on testosterone, that we were in a booth at this diner and Nick actually pulled the table out of the wall. The real table! He pulled it out of the wall!”

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Parks & Recreation ran on NBC for seven seasons. While the sitcom has become widely beloved by fans, Offerman recalled how the series wasn’t very popular during its run.

“Young people now don’t realize that it actually was never a hit,” the Last of Us actor said. “It was critically well-received but only then later it became a comfort show…We didn’t get awards. In fact, we were almost canceled every year. It was always a question mark.”

Parks & Recreation is now streaming in full on Peacock.