Teresa Giudice's time in prison hasn't just been difficult for her—it's been hard on husband Joe Giudice as well as for the couple's four daughters, Gia, Gabriella, Milania, and Audriana.

Joe told E! News during an exclusive sit-down interview that there are "a lot of times it's sad without her here," but it's especially tough "when the girls see other moms and their friends [together]."

Teresa not being there for regular mother-daughter duties has been hard on all four girls, Joe said, but "especially the youngest one [Audriana , 6]." Her older sisters Milania, 9; Gabriella, 11; and Gia, 14; have tried to be a source of comfort, but their dad is the first to admit "it hasn't been easy."

Teresa Giudice, Joe Giudice, Gia Giudice, Gabriella Giudice, Milania Giudice, Audriana Giudice

INFphoto.com

He adds, "You're emailing, you're talking here and there, but it's not like she's here," and tells E! News he misses her "every day, every minute. I always wish she was here."

"I'm glad I was able to keep the girls together, and do what we have to do to get by until she [Teresa] gets home," said Joe, noting that while he wouldn't say the family was "doing well" without Teresa, they're "managing" as best as they can.

"The last two years have been rough, but I'm glad it's behind us," Joe tells us. "Start a new life. Start all over again and put everything behind you and just hope it all stays nice."

He'll start all that with some nights alone with his wife once she gets out. "Now I have the kids trained so they all sleep in their bedrooms, so I don't have to worry about the kids sleeping in my bedroom anymore, or mommy sleeping with them anymore. That's all over, that's done with," Joe explains, and looks forward to having his first night alone with his wife "and every night until I go in" to prison.

Teresa Giudice, Joe Giudice, Gia, Audriana, Milania, Gabriella

AKM-GSI

Plus, find out what advice Teresa gave her husband before beginning her prison sentence in the clip above.

For more of Joe Giudice's interview on his future plans with Teresa, catch E! News tonight at 11 p.m. Plus, get an update on her relationship with the Gorgas and more on E! News tomorrow at 7 and 11 p.m. And don't forget to watch The Real Housewives of New Jersey: Teresa Checks In, Sunday at 8 p.m. on Bravo.

(E! and Bravo are both members of the NBCUniversal family.)

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