The 57-year-old actress stars in the upcoming erotic movie opposite The Iron Claw star, 28, and has explained she felt completely safe performing the intimate sequences due to female director Halina Reijn ensuring neither actor was pushed out of their comfort zones.
During a recent Q+A session, Kidman said: "There's a sort of a jump off the cliff thing where you go, okay, I'm just going to abandon everything and explore this with the people that I trust in a genre that is already set, but hopefully we can explore new territory and especially with the female at the helm.
"You have your director at the helm going, 'I will protect you. Nothing that's going to be in the film will be anything that you are not comfortable with. You are going to be okay.'"
The Eyes Wide Shut actress emphasised she also had an "enormous amount of trust" in her young co-star for these scenes.
She added: "We would look at each other and go, 'Okay.'"
While Dickinson admitted he was sometimes "really terrified" to film intimate scenes with Kidman, the actor insisted Reijn never forced them to continue shooting if they became uncomfortable.
He said: "Of course there were days where I would go in really terrified of a scene or I don't know how I'm going to do this.
"There was never a day that if the scene wasn't working or if we weren't comfortable or we weren't getting something, we never felt that time was more important. It was just like, 'Okay, everyone go away for a second.'"
Babygirl, due for release later in the year, follows powerful CEO Romy (Kidman) who puts her career and life's work in danger when she begins an intense affair with her young intern Samuel (Dickinson).
The Big Little Lies star said she was attracted to the project because it was "an area [she'd] never been" in her career.
She explained: "I've always been on a quest as an actor, I'm always going, where have I not been? And what can I explore as a human being? And this was an area I'd never been."
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