Madonna's father urged her to stop simulating sex acts in photoshoots and music videos.
The 55-year-old pop star admits her dad, Tony Ciccone, expressed his dislike for her provocative image and asked if it was necessary for her to be so sexual in public.
"I would always say, 'Dad, I'm an artist, I have to express myself. You don't understand ... He's like, 'Do you have to simulate masturbation on the bed? Do you have to?' Yes, dad, I do," she told America's V Magazine.
The 'Hung Up' star also joked her dad has "finally" learned to accept her raunchy image.
"I think he's finally come to terms with it. It's only taken 30 years," she said.
The Queen of Pop appears on the cover of the magazine's summer 2014 issue and accompanying racy photoshoot with fellow pop singer Katy Perry.
One image shows Madonna on all fours, while another features Katy straddling the 'Material Girl' singer, with both pop stars in flesh-baring leather outfits.
Perry also told the publication she is yet to start pushing the boundaries like singer Miley Cyrus, who posed naked on a wrecking ball for her hit song, but hasn't ruled it out.
"I haven't gone that far yet," Perry said, adding to Madonna: "But maybe under your great mentorship I might reach that point."
Other sexy images in the magazine spread show Perry, 29, holding a rope tying together Madonna's hands, while the megastar is laid out on a leather sofa.