The Obamas have largely shielded their daughters from the national media spotlight to date, but the campaign said the girls were eager to talk to entertainment reporter Maria Menounos and her boyfriend because she had recently interviewed the Jonas Brothers, a teen pop band.
The Obama campaign said they became so comfortable that they decided to join the interview, which the campaign characterizes as a whim.
During the interview, Malia appears personable and well-spoken, joking that she has given her father advice on how to greet her young friends after the Illinois senator tried to shake their hands.
"You really don't shake kids' hands that much ... You just wave or say 'Hi,'" she said she told her father.
Malia also told Menounos that she likes it when "Mommy and Daddy hold hands.
"Sometimes people think it is embarrassing," Malia said. "I like it."
During the interview, Michelle Obama also ribs her husband about his fashion sense.
"I think it's funny that he's involved in this fashion icon stuff, because these pants he's probably had for about 10 years," Michelle Obama told Menounos.
Obama's interview with "Access Hollywood" -- airing over four nights, beginning Tuesday on a show that garners millions of viewers -- comes as presumptive Republican nominee Sen. John McCain, R-Ariz., struggles to keep himself in the media spotlight.
The Arizona Republican relaunched his campaign this week after shaking up his campaign operations, and has tried to re-introduce himself with a biographical tour and television ads highlighting his Vietnam war hero record.