Penny Lancaster has opened up about the challenging beginnings of her relationship with Rod Stewart during her apperance on Loose Women.

In Friday's (February 28) episode, Penny took to the panel beside co-hosts Kaye Adams, Linda Robson, and Jane Moore to share insights into the day's hot topics.

However it was on one segment, where family life was the heartwarming topic of conversation, that Penny opened up about the start of her relationship with Rod, who she tied the knot with back in 2007, as they navigated through life as a blended family.

The couple have two children together, Alastair and Aiden, born in 2005 and 2011, however Stewart also has eight children in total from his former wives and ex-partners.

Kaye dived into the discussion by asking: "Is there a peacemaker in your family?" to which Penny confessed: "I would probably point the fingers at myself.

"When I first met Rod it wasn't the case of being involved with the man I love, it was a case of bringing in the whole family including everybody." Penny added: "I tiptoed in and said it'll be alright in the end", reports .

Kaye chimed in reassuringly, acknowledging that Rod's children probably viewed Penny with uncertainty, not foreseeing the longevity and commitment of her presence in their lives.

Penny responded: "Exactly, they thought 'this is the next girlfriend, what does she want' so it was understandable so I took the stance of being empathetic and trying to look at life from different perspectives and put myself in their shoes."

Going further, she explained: "Just slowly, slowly they got to recognise the truth and that I was the good guy and now ten years later they know who I am and we have formed a family bond but they do all come to me because of my honesty and they know they'll get the truth and it all works out in the end."

During the same show, Penny shared her insights on supporting Rod's older daughters through their experiences of maternal guilt.

Discussing her approach, she remarked: "I've always said to Rod's girls that have had babies now, don't feel bad if you feel guilty because it is a very normal feeling for a lot of mothers. All the pressures of what you should and shouldn't do, do you give them enough attention, are you strict enough and the list just goes on and on."

Reflecting on her personal challenges, Penny confided: "For me I always doubt myself whether it's enough and I have to remind myself that 'you are enough and you have done the right thing'. I sort of battle with it sometimes and I know there isn't a perfect out."

Loose Women airs weekdays from 12.30pm on ITV and ITVX