Judge Judy, 'Brady Brunch' Co-Star Christopher Knight Remember Their Friend Florence Henderson

She "told a great dirty joke," Judge Judy said of her friend.

“As feminine and as classy and proper as she was, she was a guy’s woman, you know?” Knight, who played Peter Brady on the hit show, recalled to ABC News’ “20/20.” “She could hang out with the guys, and she really could tell a good dirty joke.”

Sheindlin said Henderson was far removed from her "Brady Bunch" character.

“Florence didn’t have an image,” Sheindlin told “20/20.” “People who knew Flo well know that she was a saucy and spicy sense of humor, told a great dirty joke -- was never the shy retiring Mrs. Brady that people often thought of her as.”

According to Sheindlin, Henderson grew up poor. Her mother left the family when Henderson was a teenager. When she arrived in New York to pursue acting, she had few possessions with her.

“And because of her … talent and just spirit, that can-do spirit, she landed within six months her first Broadway job, and she never stopped working,” Sheindlin said.

Sheindlin and Knight say they will remember Henderson for being a wonderful friend and parent.

“I think Florence would like to be remembered as a person who brought people joy. She would love to be remembered as a person who told a good joke, and that she brought them humor and humanity and comfort to people. And she made everybody feel good, smile. [She] left a smile on people’s faces,” Knight said.

Sheindlin added, “Flo was one of those ageless and timeless people that you really expect to be around forever.”

Watch ABC News' "20/20" on Friday, Dec. 23 at 10 p.m. ET.