Willow Smith talks masturbation, walking in on parents with mum Jada Pinkett Smith

Willow Smith, daughter of Will Smith and Jada Pinkett Smith, has spoken up about sex and pleasure on an episode of her mum's Facebook show Red Table Talk.

While many 17-year-olds might cringe at the thought of discussing masturbation with their mum, Willow was happy to appear in the episode alongside her best friend, grandmother, and mother.

"People are like, 'oh do you think that's appropriate for Willow?' I'm like, 'hell yeah, that's appropriate for Willow,'" Mum Jada said on the show, adding: "Is it life?!"

"If I have to sit up here and tell her that she has to be careful in these streets because of all the harms that may come to her because she's a young woman, I'm damn sure not leaving out the good stuff."

Jada was shocked, however, by Willow's response to her question about how she first learned about sex.

"My introduction to sex was obviously walking in on you and Daddy," Willow replied.

"I was going downstairs to get some juice and I saw for a little moment and I ran away. I was like, 'Oh, my God. This is so crazy. What did I just see?'

"It wasn't like I was seeing everything. The room was dark… [I felt like] I overstepped a boundary," the 'Whip My Hair' singer added.

The three generations of women also discussed the stigma around masturbation and their differing experiences broaching the topic when they were younger.

"My grandmother taught me about self-pleasure. She taught me at [the age of] nine!" Jada told Willow. "I think by your age, I gave myself multiples first. Multiple orgasms."

Willow's grandmother Adrienne Banfield Norris said it took her much longer to embrace her sexuality, but she praised her granddaughter for being so open and free about the subject.

The teen singer and actress admitted that conversations about sex with her father Will Smith were a little different.

"Whenever I talk to Dad about it, it's always an intellectual debate. It's very serious, but it's not emotional," she said.

Willow has previously discussed grief, body image, fame and self-harm on the show.  The debut episode has been viewed over 27 million times.