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Kendra Wilkinson Takes Kate Gosselin's Parenting Advice After Celebrity Wife Swap

02/26/2013 at 05:00 PM EST

Celebrity Wife Swap: Kendra Wilkinson Takes Kate Gosselin's Parenting Advice
Kendra Wilkinson (left) and Kate Gosselin
Giulio Marcocchi/Startraks; Taylor Hill/Getty
When it comes to parenting, Kendra Wilkinson considers Kate Gosselin her mentor.

"If there's any person in this world I'm going to take motherly advice from, it's going to be Kate Gosselin," Wilkinson, 27, told PEOPLE on Friday. "She has eight kids and she knows what she's doing with them. When she told me advice, I listened. With most people, I'm just like, 'Whatever ... whatever, I'm not going to listen to you.' But she's the type I would take advice from."

The two moms connected while filming an episode of Celebrity Wife Swap, which airs Tuesday on ABC (8 p.m. ET). While Wilkinson stayed in Gosselin's Pennsylvania home with her eight kids, Gosselin, 37, ventured to L.A. to live with Wilkinson's hubby Hank Baskett and their 3-year-old son, Hank Baskett IV.

"It was very nerve-racking and I had a lot of anxiety on my end," Wilkinson said of the swap. But, she adds, "Hank's side of things was more the drama. Kate shines the light on things people don't really understand."

Gosselin, it seems, didn't appreciate the couple's more relaxed lifestyle.

"Hank stood up for me and had my back, because I don't think Kate really understands why a man like him is so domestic," the former Girls Next Door star explains. "Hank was like, 'Just chill, relax. These are our rules.' A woman gets to relax and be free. Kate freaked out because she's so used to working and structure and every minute is by the book. But that's not us, though. We're very laid back. We go with the flow."

Still, the reality stars bonded after being out of their respective comfort zones.

"We both got a taste of each other's lives," Wilkinson says of the former Kate Plus 8 star. "We got really close and really in-depth."

She even recommends the Wife Swap experience.

"People should do these swaps more often," she says. "Not just for show, but you really just find this appreciation for your neighbors through this."

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