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Lisa Rinna and Harry Hamlin opened up about their sex life and 28-year marriage during a recent episode of their podcast.

As the couple, who has long been known as one of the rare Hollywood success stories when it comes to marriage, looked back on their decades together, Lisa, 61, and Harry, 73, shared how they’ve made it work through keeping their spark alive in the bedroom and making quality time a priority.

“When you’re married for as long as we have been [or] together as long as we have, there’s a kind of shorthand you develop over the years,” Harry explained on the June 6 episode of Let’s Not Talk About the Husband, via Us Weekly.

“We’ve been together 32 years — that’s a really long time,” Lisa agreed. “Through children and through everything, you kind of have to plan it and schedule it. Especially when you [have] kids.”

According to the Real Housewives of Beverly Hills alum, she and Harry would often schedule nights away at hotels to ensure they were getting the one-on-one time they needed amid their busy careers and life at home with their family.

“I think you just have to make time for it and you have to create space for it like everything else,” she stated.

While Harry admitted that his and Lisa’s steamy sex life was a “big part” of why they’d been together for so long, he added that it wasn’t the only important aspect to maintaining a happy romance.

“Intimacy can take a lot of different forms too,” he pointed out. “It doesn’t have to be just mucking around all the time … it can be a lot of different things … Rolling in the hay isn’t the only way to show intimacy.”

In addition to keeping their love life alive, Lisa said she and Harry enjoy going on spa getaways before stating that everyone is different and has different needs from their partner.

“I think it’s always so fun to create things like whatever works for you,” she shared. “You wanna do a little dress up, little role-playing, little porn. I don’t know, I think it’s all good.”

In an effort to get back into action after the birth of her youngest daughter, Amelia Hamlin, now 23, Lisa began taking pole dancing classes.

“Lucky me!” Harry proclaimed.

And as a result of her participation, Lisa had several sexy outfits and “big old stripper shoes,” which Amelia and Deliah Hamlin, 26, ultimately discovered in a guest bedroom drawer.

“They thought it was so funny,” Lisa admitted. “I had a couple [costumes], like a cop, a nurse, lingerie, and who knows what’s in there.”

Wrapping up their advice for couples, Harry said that being “open” with your partner was key.

“Ask them what it is they want and how they like it,” he concluded. “If you can get straight with that, you can keep going for a long time.”