The situation took place at Andy Cohen's baby shower back in January.
Andy, 50, welcomed his first child via surrogate one month later.
Lisa, 55, was one of many Real Housewives at Andy's special day.
The former Melrose Place star ended up dirty dancing with Andy's BFF and godfather to his son Bruce Bozzi at the party.
Erika Jayne could be heard screaming "Yas!" repeatedly in the background while Lisa ferociously grinded on Bruce, 51.
"This will never get old," Andy commented. "The endless videos of the day are like new pieces of a Zapruder puzzle."
Do you think Lisa's dirty dancing was more fun or inappropriate? Sound off in the comments.