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'I walk around my house naked': X Factor judge Mel B reveals her post-bath regime as she talks openly about sex and body confidence

Published: 04:20 EST, 27 October 2016 | Updated: 14:36 EST, 27 October 2016

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Mel B is known as a straight-talking, confident woman.

And none of that changes when the topic of conversation turns to the often uncomfortable - for most of us - subject of sex.

The feisty 41-year-old told Who how she embraces sex in her everyday life, who the sexiest celebrity she's ever met is and how she approaches the subject with her eldest daughter.

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Sex symbol: Mel B is not shy about talking about sex and the X Factor judge let Who into her feelings on the subject

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Mel, who recently returned as a judge on X Factor, lifted the lid on what life is like in her household, offering an insight into how comfortable she is in her own skin.

She told the publication: 'I walk around my house naked after having a big bath. I do this about three or four times a week. I am not one for wearing too many clothes.'

Known as Scary Spice from her time in Spice Girls, Mel names her bedroom as her sexiest place on earth.

Revealing: The former Spice Girl lifted the lid on her life at home, saying she walks around naked after a bath 'three or four times a week'

Hubby: Mel married Stephen Belafonte in 2007, her second marriage after splitting from Jimmy Gulzar

The room in her Los Angeles home, which she lives in with husband Stephen Belafonte and her three daughters, has been decorated specially to exude romance and peace.

The singer also revealed she sets the mood for 'sexy time' with 'candles and electronic chill music'.

Sex is a prominent subject in Mel's household, and the mum-of-three has been dealing with it with her eldest daughter.

Guess who's back: The 41-year-old made a shock return to the TV talent show as the Underdog coach

If you want to be my lover: The Leeds-born popstar discussed how she handles the subject of sex with her eldest daughter

She said: 'I have a 17-year-old daughter [Phoenix], so obviously we've had many talks about it. I always say that you have to do what feels right for you and there is no harm in making the other person who is into you wait to do whatever you want.

'You have to make sure everything is consensual and make sure everything is consensual and make sure you do feel good about your choices.'

While sex may be a taboo subject for a lot of families, the eccentric TV personality doesn't believe it needs to be that way.

'Everyone has sex and I think there is no harm in talking about it,' she said.

'I mean, I am not talking about it with just anybody, but especially your partner you should be able to feel free to talk about that stuff.'