Actress Gemma Whelan, who played Yara Greyjoy on the popular HBO series "Game of Thrones," opened up about her experience filming sex scenes on the show.

The 40-year-old actress disclosed that while there was limited direction provided when it came to filming sex scenes, the cast members were kind enough to get consent from each other before moving forward.

"They used to just say, 'When we shout action, go for it!' and it could be a sort of frenzied mess," Whelan told The Guardian Tuesday. "But between the actors there was always an instinct to check in with each other."

In fact, she went on to explain the series' popular brothel scene in which she made out with another girl. She explained how the director just asked her to bite the fellow actress' boob and slap her buttocks without any further directions.

"There was a scene in a brothel with a woman and she was so exposed that we talked together about where the camera would be and what she was happy with," the actress told the outlet. "A director might say, 'Bit of boob biting, then slap her bum and go!' but I'd always talk it through with the other actor."

Despite playing such a bold and popular character in the series, the actress noted that she goes unrecognized on the streets.

"People sometimes say, 'Do I know you from the bus stop?' or, 'Were we at school?' That's it really," she noted.

"Game of Thrones" ran for eight seasons. It first aired in 2011 and its finale dropped in 2019. The show's creators are currently working on the upcoming prequel of the series titled "House of the Dragon."

"Game of Thrones" followed the war between nine noble families while the upcoming prequel will focus on the Targaryen civil war that took place 300 years before the events on "Game of Thrones."

Last month, HBO Max dropped the teaser trailer for the new show and disclosed its official release date.

"House of the Dragon" will premiere on HBO Max on Jan. 1, 2022. Whelan will be next seen in the TV series "The Tower."

Gemma Whelan
Off set Gemma Whalen sheds character Yara Greyjoy’s tom-boy look for something more elegant. Photographed above: the “Game of Thrones” actress attends the Three Empire Awards in London, england, on March 19, 2017. Getty Images