September 14, 2016 06:40 PM

Well that’s one way to get to know each other!

For Mandy Moore, who plays a mom-to-be pregnant with triplets in NBC’s hotly anticipated series This Is Us, her on-screen husband Milo Ventimiglia proved invaluable when it came to some highly charged labor scenes.

“Milo is the consummate professional,” Moore tells PEOPLE exclusively in this week’s issue. “When I was going through the labor process, he was really rubbing my back really hard! I immediately felt so comfortable with him.”

Perhaps not so comfortable was Moore’s pregnancy getup.

“I had a bodysuit I would pull up,” the 32-year-old explains. “But the boobs I had the most trouble with. They were right underneath my chin! I had to adjust the boobs more than I had to do anything else.”

For exclusive photos and much more from Mandy Moore, pick up the new issue of PEOPLE, on newsstands Friday

[IMAGE “1” “” “std” ]In the end, it was all worth it of course, as Moore prepares for viewers to see what will likely be the most celebrated work of her impressive career thus far.

“I’m so thrilled to be a part of a show like This Is Us,” says Moore. “I’m in incredible company. And I’m very, very lucky.”

This Is Us premieres Tuesday at 10 p.m. ET on NBC.

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