Nicole Kidman explains TV lap dance

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Nicole Kidman has defended her recent TV lap dance, explaining the saucy spectacle was totally "impromptu".

The Hollywood star caused a stir during Matt Damon's Jimmy Kimmel Live! takeover on Thursday, when she gave the bound-and-gagged TV host a seductive welcome after arriving on stage.

Jimmy was strapped to a chair as he was subjected to a string of teasing appearances from a host of big stars including Nicole, Demi Moore and Ben Affleck.

The red-headed beauty defended her cheeky antics, explaining she was just following the lead of another one of the night's Hollywood guests.

"Ah, yeah. Impromptu. Very impromptu. No, no!" she laughed to ET Online when asked if she'd planned it. "Robin Williams had done it before, so I thought, 'Well, why not?'"

Nicole also gushed about her husband Keith Urban on Sunday's Screen Actors Guild (SAG) Awards red carpet.

The actress is proud the country singer's true qualities are coming through as he sits on the judging panel of hit TV talent show American Idol.

"He's so sweet. I think that's really coming across on the show too. You really see his genuine nature. I've had so many people coming up to me saying, 'Gosh, he's such a warm person,' and he really is. Darling man," she smiled.

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