Nick Offerman and Megan Mullally recall steamy “Parks & Rec” makeout: 'He pulled the table out of the wall'

"Nick, at one point, was so like Ron Swanson, so riled up on testosterone," his real-life wife remembers.

Nick Offerman and Megan Mullally's real-life romance sometimes bleeds over into their acting work. One of the most vivid examples, as they themselves admit, came in during Mullally's first guest appearance on Parks & Recreation, where a planned makeout got even steamier than expected.

In a new interview on the Where Everybody Knows Your Name podcast hosted by Ted Danson and Woody Harrelson, Offerman and Mullally recalled how much they leaned into their chemistry while filming the Parks & Recreation season 2 episode, "Ron and Tammy." This episode marked Mullally's first portrayal of Tammy II, the second ex-wife of Offerman's Ron Swanson (his first marriage having been to a different woman named Tammy).

Related: EW's long, intimate, increasingly strange interview with Megan Mullally and Nick Offerman

"The very first scene that we shot was was so early, like 6:30 in the morning," Mullally said. "It was a motel and we were supposed to be like, desperately trying to get to this motel so that we could like get it on."

Mullally continued, "I was like, 'I'm gonna take my bra off'...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 added.

"And they used it!" Mullally said.

But things only got sexier from there.

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The next scene they filmed for the episode involved Ron and Tammy meeting up in a local diner in the show's fictional setting of Pawnee, Ind.

"That same day we went to a diner and they, at a certain point, were like, 'just do whatever you need to do,'" Mullally recalled. "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! 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!"

In the nine years since Parks & Recreation ended its seven-season run on NBC, the sitcom has cemented its reputation as a beloved comfort watch. But as Offerman and Mullally noted elsewhere in the interview, it wasn't always so popular.

"Young people now don't realize that it actually was never a hit," Offerman 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."

Related: Ted Danson says Cheers cast kept trying to kick Woody Harrelson's ass

But in the end, things worked out for the best. Watch the clip above for the Parks & Recreation memories, and listen to the full discussion on the latest episode of Where Everybody Knows Your Name.