Penny Lancaster's husband Rod Stewart used to lick her toes when they first started dating.

Speaking on the ITV daytime show, Penny admitted: "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."

Asked if she lets Rod suck her toes, Penny responded: "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, which feels nice."

Co-panelist Ruth then enquired, "What with?" prompting Penny to share, "His fingers or tongue."

Penny also revealed she enjoyed the experience because the feet are a very sensitive area of the body.

She said: "When you get reflexology they always touch those areas."

Meanwhile, Penny has previously revealed some of her sex secrets, admitting she and her husband like to get steamy in the backseat of their car.

She shared: "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."