"The Real Housewives of New Jersey" star Joe Giudice knows exactly how he and wife Teresa Giudice will spend their time once she returns home from prison.

"We'll be spending a lot of time in the bedroom for a while, that's for sure," Joe told E! News on Thursday. "Every night until I go in [to prison]."

Joe said he has trained their four daughters, Audriana, 6; Milania, 9; Gabriella, 11; and Gia, 14, to sleep in their own rooms, which means the couple will enjoy plenty of privacy.

"The last two years have been rough, but I'm glad it's behind us," Joe said. "Start a new life. Start all over again and put everything behind you and just hope it all stays nice."

Teresa's stint in prison has been difficult for her and for her family.

Joe said the worst part is "when the girls see other moms and their friends [together]."

Audriana has missed Teresa's mother-daughter duties the most, according to Joe, though her older sisters have tried to be supportive.

"You're emailing, you're talking here and there, but it's not like she's here," Joe said, adding that he misses her "every day, every minute. I always wish she was here."

Joe will be entering prison immediately following Teresa's release. In October 2014, Joe was sentenced to 41 months and Teresa to 15 months in prison after they plead guilty to mail, wire and bankruptcy fraud in March 2013.

Joe blames himself for Teresa's prison sentence.

"I was to blame," Joe said during an interview with the "Today Show" on Wednesday.

"I took full responsibility for everything, but they still put her away. I mean, I was supposed to go away, not her. And that was part of the plea. What I thought, anyway. I don't know what happened in the courtroom that day."

Teresa's sentence began on Jan. 5. She is expected home in December.

Joe's life at home with his four daughters during Teresa's prison sentence is being chronicled in a three-part special that will premiere on Sunday.

Watch "The Real Housewives of New Jersey: Teresa Checks In" premiere on Sunday, Oct. 11, at 8 p.m. ET on Bravo.