The TV journalist recently opened up about the time he joined the Queen of Pop on stage during a 2015 concert, an experience Cooper now says he "chooses to forget."
While joining Kelly Ripa on the newest episode of her Let's Talk Off Camera podcast, Cooper, 56, looked back on the experience with embarrassment, as he remembered being pulled up on stage at a Madonna concert in Brooklyn.
"I didn't know what the hell was going on," the CNN broadcaster said of the experience, "I was terrible. I danced terribly. It was mortifying."
"I mean, I loved the whole idea, I love the experience of it," Cooper said, clarifying, "I don't love the video that exists of it, the reality."
He also said he "didn't expect" the nature of the performance, which involved him being "humped" and "spanked" by the "Like a Prayer" songstress, and even being given a banana to peel and eat on stage.
Ripa, 52—who was in attendance for the live show—said she was the one who shot the video of Cooper dancing, along with thousands of fans at the Barkley Center who wanted to capture the moment.
Cooper then pleaded with Ripa's podcast listeners by urging, "Anyone listening to this, please do not go and look at it online 'cause it's just mortifying."
To celebrate the release of her podcast episode featuring Cooper, Ripa took to Instagram to share a montage of photos from the duo's years of friendship.
The sweet photos also show the Live! With Kelly and Mark star posing with Cooper's kids, sons Wyatt, 3, and Sebastian, 18 months, whom he shares with ex-boyfriend Benjamin Maisani.