The pair, who play teenage parents Katy Armstrong and Chesney Brown in the soap, were teased by the crew when they began filming the scene.
"My first ever kissing scene with Sam in the Rovers was my most embarrassing moment. I wasn't nervous, but Sam was petrified and I honestly don't know why," she told Inside Soap.
"The crew started playing this really romantic music and Sam nearly died. He's much better now though. Besides, he's seen me giving birth on set, so he can't be embarrassed any more!"
Speaking of filming her character's pregnancy, she added: "It was hot and uncomfortable carrying that baby bump around all day, but I eventually got so used to it that I actually kind of missed it when Katy gave birth."
Foote recently admitted that she's glad the show is tackling a big issue like teen pregnancy.