Courtesy of Access Hollywood
Courtesy of Access Hollywood
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Nicole Kidman brought her 3-year-old daughter, Sunday Rose, to the set of Sesame Street in NYC, where she filmed a "Word of the Day" scene for an upcoming episode!

Access Hollywood was there to get a glimpse of a glowing Nicole shooting her cameo appearance, something she says was "a lifelong dream" for her.

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"I started watching Sesame Street when, I think, I was about four," the Oscar winning actress tells Access Hollywood.

Nicole joined the grumpy and green Oscar the Grouch to describe the word of the day, which was "stubborn."

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And although Nicole was super excited about the gig, her daughter Sunday Rose — with husband, Keith Urban — was even more thrilled. "My daughter is here on the set… she thinks they're all real," Nicole explains of the puppets. "She loves Abby and Zoe and Elmo. Sorry Oscar!"

Check out video of Nicole on the Sesame Street set below!

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