Nicole Kidman Shoots Cameo for 'Sesame Street'

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!"