Madonna's father urged her to stop simulating sex acts in photoshoots and music videos

She told America's V Magazine: "I would always say, 'Dad, I'm an artist, I have to express myself. You don't understand ... He's like, 'Do you have to simulate masturbation on the bed? Do you have to?' Yes, dad, I do."

The 'Hung Up' star also joked her dad has "finally" learned to accept her raunchy image.

She added: "I think he's finally come to terms with it. It's only taken 30 years."

The Queen of Pop appears on the cover of the magazine's summer 2014 issue and accompanying racy photoshoot with 'Birthday' hitmaker Katy Perry.

One image shows Madonna on all fours, while another features Katy straddling the 'Material Girl' singer, with both pop stars in flesh-baring leather outfits.

Katy also told the publication she is yet to start pushing the boundaries like singer Miley Cyrus, who posed naked on a wrecking ball for her hit song, but hasn't ruled it out.

The star said: "I haven't gone that far yet," adding to Madonna, "but maybe under your great mentorship I might reach that point."

Other sexy images in the magazine spread show Katy, 29, holding a rope tying together Madonna's hands, while the megastar is laid out on a leather sofa.