Being in prison may not have stopped Teresa Giudice and husband Joe Giudice from having some intimate husband-and-wife moments together. The “Real Housewives of New Jersey” star was reportedly groped by her man during one of his conjugal visits.

Teresa has been serving her time in prison for ten months now, so it's not shocking that Joe is longing for her presence in the bedroom. Because of this, Joe took to himself to find a way to get some romance with his wife.

The 43-year-old revealed to Andy Cohen recently that since sex is not allowed in jail, he satisfied his craving for Teresa by groping the latter while the jail guards weren't looking, In Touch Weekly has learned.

Though the couple failed to satisfy their carnal desires of each other, Joe seemed to be pretty content with what they did.

"I get to feel her a little bit here and there," the Giudice patriarch said of the groping incident inside the prison.

Then, he added that because of this gesture he "got yelled at by the guards."

Since they did it while Teresa's incarcerated, will they do it again when it's Joe's turn to serve his sentence brought about by fraud charges? Only time will tell.

For now, Joe is currently busy filling in for his wife and playing the role of Mr. Mom in their household, E! News reported.

"I've always been a father. I've always done everything," Joe was quoted as saying. He then resumed saying: "But Teresa did all the driving around, running around, paying for everything and doing all this and doing all that. I never knew how many expenses there are just in the activities."

Speaking of his new role in the family, Joe said, "I'm like the mom — I'm like the cheer mom and whatever," before admitting that "it hasn't been easy."

Meanwhile, it seems that the problems of Teresa and Joe continue to pile up, the latest of which is the rejection of the Morris County Superior Court judge of their contest to the foreclosure of their Montville Township mansion, as per NJ.com.

The reality TV couple previously lost their Manahawkin summer crib that was foreclosed earlier this year. Does this mean they are also losing the mansion where their family filmed Bravo's "Real Housewives of New Jersey: Teresa Checks In?"

Stay tuned for update son this story.