The first lady added that life has been more normal for them during the transition than it was on the campaign trail.
"We have dinner with Barack every night, and we haven't done that for two years," she said.
To help keep the family on track during the transition, Michelle Obama's mother, Marian Robinson, has moved into the White House.
"My mother jokes. She said, 'You know, when I, I taught you and your brother to push beyond your comfort zones, I didn't expect you to drag me with you,'" Michelle Obama said about her mother's teasing.
The first lady thanked her mother for her help keeping Malia and Sasha grounded during the campaign and now, in the White House. She acknowledged that both she and her husband could not have done this without Robinson.
"We are grateful that she's going to be here, helping the girls, helping me get acclimated to the changes that we'll be facing," Michelle Obama said. "I can breathe a little bit easier, knowing that if I'm out late, or have to travel, that the girls have Grandma."
As for their first day in the White House, both the president and the first lady are giving their daughters the day off from school.
"We're going to have an open house on Wednesday, open up the White House to the public," she said. "I think it'll be good for the girls to see, to see that, and be there for that."