September 16, 2016 07:15 PM

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With two children, Alyssa Milano is a wealth of knowledge about motherhood and postpartum. The actress recently gave new moms loads of advice – all from first-hand experience – when she discussed the difficulties of losing the baby weight.

“I do believe that the weight does come off in the right time. I really do,” Milano, 43, told the Today show. “When I gave birth both times, I didn’t rush myself to lose the weight, but eventually it did come off.”

The mother of two explained, “Sometimes it’s hard work, but to me, it took such a backseat to being a new mother and what that meant and how special and physically demanding that was alone.”

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In addition to working out up to five times a week, the former Mistresses star told PEOPLE in May that she followed the low-carb Atkins program for nearly a year to reach her “happy” post baby weight.

Milano, who is a mom to 5-year-old son, Milo, and 2-year-old daughter, Elizabella, also encouraged mothers to embrace their body transformations.

“I love my c-section scar, because it’s where my babies came from,” she said, later adding, “Be kind to yourself. And to remember what your body is put on this earth to do, which is nurture, feed, take care of a child. Everything else is sort of irrelevant.”

Though Milano and husband Dave Bugliari don’t see themselves having more children anytime soon, the couple previously hinted to PEOPLE that they may “adopt in six years.”

— Karen Mizoguchi

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