Teresa is currently serving a 15-month prison sentence at Danbury Federal Prison for tax fraud.
He spoke about how his and Teresa's four daughters, Gia, Milania, Gabriella and Audriana, interact with their mother during family prison visits.
"We sit down and we talk. There's a snack menu and venues or whatever that you buy from and the kids go crazy because it's like one big room there, so they got a little toy room but they get a little antsy, you know, the young ones," said Joe.
"It's kinda hard to like, talk to her, so the last 15 minutes, I just kinda send them on their way so can talk for a little bit and just hang out, me and her."
Joe revealed that the girls bring things to show their mother during the visit, such as letters and note they have written for her, pictures and their homework.
The 45-year-old also said that the prison visits typically last around three hours -- and the kids have gotten used to visiting their mom in prison.
"At the beginning it was hard," he said. "Now it's like kinda routine and they go just to see her, which makes her happy."
Giudice admitted that leaving the prison after family visits is particularly tough on him.
"I have a harder time saying goodbye than they do," he said. "Well, now it's, you know, better, but I mean ... when you go to her in the beginning, it's rough, you know, watching her stay there. It sucks. But what are you gonna do? It's almost over, thank God."
He also noted that Teresa will occasionally want to pose for family photos in the federal prison.
"She loves taking pictures, even in there," said Joe.
Teresa Giudice is set to be released in December. Joe, who was sentenced to 3 1/2 years in prison for the same crime, will begin his time behind bars after Teresa is released. Their sentences were staggered in the interest of the couple’s children.