Joe Giudice is opening up about what it has been like for his family to visit Teresa Giudice in jail.

For almost a year now, Joe has been taking his four daughters Audriana, 6; Milania, 9; Gabriella, 11; and Gia, 14, to Danbury Federal Prison, where Teresa has been behind bars for tax fraud. After she finishes her 15-month sentence, Joe will be incarcerated for a whopping 41 months.

The family visits, which typically last three hours, allow the family to sit down and 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," Joe told ABC News.

"It's kind of 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."

The girls reportedly often bring pictures, homework or letters to share with their mother, who has starred on The Real Housewives of New Jersey since it debuted in 2009.

While Teresa's time in jail has been an adjustment for her loved ones, the kids have gotten used to it. Teresa even enjoys taking family photos at the federal prison.

"At the beginning it was hard. Now it's like kind of routine and they go just to see her, which makes her happy," Joe told ABC News, adding that he actually has "a harder time saying goodbye" than their young girls.

"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."

In a separate interview with E! News, Joe admitted he's glad the last two years are behind them now because it was a very difficult time for them both.

Joe said he wants to "start a new life... start all over again." He's especially looking forward to nights alone with Teresa in their home's bedroom before he heads to prison.

"Now I have the kids trained so they all sleep in their bedrooms, so I don't have to worry about the kids sleeping in my bedroom anymore, or mommy sleeping with them anymore. That's all over, that's done with," Joe explained.
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Teresa is reportedly set to be released in December.