Denise Richards Describes 'Awkward' Moment Acting with Ex Charlie Sheen

VIDEO: The actress talks about how she handles motherhood and her career.

Denise Richards and Charlie Sheen's four-year marriage had its awkward moments, including separations, short-lived reunions and, finally, a very bitter and very public divorce and custody battle over the couple's two daughters, Lola, 7, and Sam, 8.

Six years after their divorce, however, the pair are friendly again and even going back where they first met, working together on the small screen in Sheen's new sitcom, "Anger Management," which debuts Thursday on FX.

WATCH: Charlie Sheen Discusses His Return to TV

That's not to say the awkwardness of a reunion of the once-feuding couple has disappeared, at least not for everyone else.

"It was more awkward for everyone on set watching," Richards, 41, said today on " Good Morning America" of the guest appearance she recently shot with Sheen, 46. "We looked around and were like, 'Everyone is staring at us.'"

It's the first time the two have appeared together onscreen since their 2006 divorce. The show also marks the TV debut for Sheen - once the highest-paid actor on television - since he was fired from his hit sitcom "Two and a Half Men" last year.

Adding to the buzz: Sheen and Richards went together with their daughters to a game between the New York Yankees and New York Mets Saturday night. What's more, Richards has split with Bon Jovi rocker Richie Sambora, her on-again, off-again boyfriend of five years.

"Truly, we were just at the game with our kids," Richards said on "GMA." "There is nothing more."

"People are trying to make more out of it," she said of the media speculation. "When they don't see us together we're at each other, but when we're together they think we're back together. But it's for our girls. It's for them."

Whether with Sheen or not, Richards, who adopted a baby daughter, Eloise, on her own last year, says she may not be finished adding to her brood.

"I always saw myself with a big family and I don't think I'm done," said Richards, now also starring in the new Tyler Perry film, "Madea's Witness Protection." "I always say you never say never. But I think, as a single parent, three is a charm so we'll see what happens."

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