The 31-year-old star revealed the strange incident occurred when she was far younger and thought it would be fun to hide in their bedroom, but was left shocked when the couple - who finalised their divorce last year after 24 years of marriage - began having sex.
She recalled: ''When I was younger, I was hiding under my mom's bed for some reason, and her and Bruce started having sex. I was there and I couldn't leave. I had to stay until it was over.''
However, it's not the only time the 'Keeping Up with the Kardashians' star has been subjected to the sound of her 57-year-old mother's love-making, as she was recently left feeling ''traumatised'' after her and sister Kim Kardashian West heard her getting intimate with her 34-year-old boyfriend, Corey Gamble.
She explained to Complex magazine: ''Hearing them have sex is wild and I'm traumatised. Kim and I did.
''At her house, thank god. We were downstairs, and we just heard like [claps]. It's really a traumatising thing. And the headboard just going ... We were hitting each other like, 'NO!' Kim was like, 'Wait, shh.' And then it was dead silent and then they went again for round two. I was like, 'OK, check please, I'm gone.'
''That shouldn't happen to anybody, but it's happened to me a few times with my mom.''