The Oscar-winning actress appeared alongside Rudd as a guest on Graham Norton's talk show this week (ends01Feb13) and showed she still has her cheeky side as the actor discussed awkward movie kissing scenes.
After Rudd recounted his time in 2010 film How Do You Know, when he kissed his onscreen father Jack Nicholson in several scenes, a breathless Mirren asked the actor, "Can I lick your face?".
She then wiped off her lipstick and asked to re-enact the scenes, with her as Nicholson, and the pair came together for a steamy clinch.
As they parted, a flushed-looking Mirren told Rudd, "Thank you very much!"
The interview is due to air in the U.K. on Friday (01Feb13).