Brooke Shields Says She's 'Meeting' Her Daughters as Young Adults for the First Time: 'Let's Reintroduce Ourselves'

Brooke Shields is meeting her daughters all over again.

The actress, 59, appeared on a Thursday, March 29 episode of Today with Jenna & Friends and opened up about her relationship with her two young adult daughters, Rowan, 21, and Grier, 19. As she spoke about what it's been like seeing her daughters get older, Shields recalls how Grier got a little "impatient" with her when she didn't know who all her friends were.

"My younger one is a freshman and so she's now meeting new people, but I go on campus and I don't know these people, and she's getting insulted and impatient with me," the star says.

"I was like, 'For your whole life, I've told you what to do, what to eat, when to eat, what not to eat, clothing, who are your friends,' " Shields remembers. "I said, 'Now I'm meeting you, so you have got to give me a bit of a grace period so that I can get to know you as thing young adult.'"

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"And she was like, 'Oh, okay.' I was like, 'So don't get mad at me. Let's just reintroduce ourselves to each other because I'm getting to know you,' " the mom of two explains.

As she went on, Shields tells Jenna Bush Hager that it's not going to be a "seamless" process and that she just needs time to understand who her daughter is now.

"They expect you to know all their friends immediately and be best friends with them," Shields says. "And I was like, 'I don't know this sense of humor that you now have, these inside jokes that I have nothing to do with.' And you're sort of gutted by it, but then you're like, 'Oh, you're going to be okay.'"

Shields shares her two daughters with husband Chris Henchy.

In January, the actress spoke with Real Simple for their cover story and shared what it's been like raising her two daughters in a culture that seems to be so obsessed with being younger.

"I look at my two girls — everything's higher and tighter and smoother. And I know it's all appealing and it does sell, but I want my girls not to be terrified to be my age," Shields told the outlet.

While chatting with PEOPLE for an August cover story, Grier and Rowan revealed their thoughts on the nepo baby conversation.

“My mom says I can get you in a room but I can’t get you to stay there,” said Grier, who recently began to model and who has a contract with Tommy Hilfiger.

“People have referred to me by that term a bajillion times,” she noted. “It doesn't really affect me because they are sitting behind a screen commenting on my social media [but] it hurts my feelings. Obviously wanting to model and having a mom that models, helps, but also if I get there and they hate the way I look, they’re not going to ask me to come back.”

“Having a famous mom can only get you so far,” she continued. “If I sucked at my job, I’d be fired. If Rowan sucked at her job, she’d be fired. (Rowan, 21, a college senior, spent the summer as an intern at Good Morning America.) “You have to be good at what you’re doing to keep the job."