Milo Ventimiglia taught Mandy Moore how to change a diaper on 'This Is Us' set

Jack and Rebecca Pearson are the ultimate parenting duo on This Is Us.

It turns out Milo Ventimiglia helped Mandy Moore transfer their on-screen skills to real life before she welcomed her first child—a son named August "Gus" Harrison Goldsmith—in February.

"Because so much of the show revolves around kids of a certain age—whether they're eight-year-olds or 12-year-olds or teenagers or adults—I feel like I maybe have a little bit more experience as he gets older and less with him as a baby," Moore told People. "It was funny, I remember very early on, definitely the first season, having to shoot scenes where we were chaotically changing diapers and just trying to handle triplets, and Milo having to show me how to swaddle, how to change diaper. I knew nothing!"

This Is Us began its groundbreaking run on NBC in September 2016. Moore has portrayed the Pearson matriarch, and Ventimiglia has played the most beloved modern-day television dad, since the pilot. The Emmy-winning drama will conclude after its sixth season next year.

"Obviously being a parent is a practice in patience and being present," the 37-year-old actress and singer-songwriter added. "I just chuckled to myself now thinking I wish I was just starting the show now because I finally crystallized like, 'Oh, I know what it means to be a mom now,' even though I've only had five months of experience."

Moore and Dawes frontman Taylor Goldsmith wed in November 2018, though Moore had expressed her desire to be a mom "sooner rather than later" with Today's Willie Geist in October 2017: