My parents make me cringe, says Richard and Judy's daughter

But when those parents are Richard Madeley and Judy Finnigan, you might as well increase that humiliation tenfold.

Their daughter Chloe has revealed just how embarrassing it can be growing up with the most famous couple on British television.

The 19-year- old admitted her parents often left her cringing with their constant sex talk and televised gaffes, such as Miss Finnigan exposing herself at a TV awards ceremony and Madeley attempting an Ali G impression.

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Miss Madeley said: "My Dad starts talking about contraception or sex at the dinner table. When I was younger I found it a lot harder to deal with some of the topics my parents talked about on their show.

"As a happily married couple they do have sex and would often talk about it. No child wants to hear about their parents' sex life and I would cringe when someone mentioned something they had said.

"I could not ask for more supportive, loving and understanding parents - but I wish they would behave."

Miss Madeley is the youngest of the couple's children. They also have a son, Jack, 20, while Miss Finnigan has twin sons, Dan and Tom, from her first marriage.

Club promoter Miss Madeley, who lives with her parents in Hampstead, North London, said their insistence on sharing intimate family secrets with the nation often left her blushing together with Jack.

Her father talked about her first period on national television. But that

discussion was not a one-off.

Madeley, 51, and Miss Finnigan, 59, have left their children cringing with boasts about their sex lives and confessions to having a vasectomy and using Viagra.

Miss Madeley said she was mortified when her mother's halterneck dress slid down to her waist without her realising it at the National Television Awards in 2000.

She said: "It was mainly in sympathy for her but also because going to school the morning after the nation has seen your mother in her bra isn't exactly thrilling.

"No one wants to hear someone being openly rude about their mother. It was upsetting when little yobs approached me screaming: 'I saw your Mum's t**s'.

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"But when I think about it I feel more embarrassed for their mothers - they have sons who have grown up so hideously. My mother has marvellous boobs."

Born the year her parents began presenting This Morning, she tended to shy away from the limelight.

She was forced out of the shadows in March when her father revealed on his chat show that she had been mugged and her mobile phone stolen - then shook his fist at the camera in a threatening message to the thief.

She added: "At home Dad is exactly as he is on TV - bad impressions and awful jokes included. He is just as frank and direct with my friends as he is on the show."

She admitted Madeley's Ali G impression - voted the worst TV moment of all time in a poll - had earned her "a lot of stick".

She told Cosmopolitan magazine: "Jack, who was then 13, desperately tried to convince Dad not to do it, then stormed off to bed when he realised that if our father wants to do something, he will do it."