Speaking to The Sun, the former Pussycat Doll revealed that after an awkward start, the pair eventually grew to understand each other.
© WENN / Daniel Deme
"I think it took her a second to warm to me, because we didn't know each other," the 34-year-old admitted.
"When we got to sit down and share some wine together [we began to] talk and see each other as humans. [We told] each other about our backgrounds and stories and own lives [and then] we really related to one another.
"We're both fighters and survivors. We're tough cookies underneath it all. We just show it in different ways."
© WENN / Daniel Deme
The 'Poison' singer added that she and Contostavlos used their individual strengths to help each other settle into their new roles; Scherzinger as a judge on the ITV show and Contostavlos as a solo artist.
"She told me she would show me the ropes with how to be raw and honest and I said I'd show her the ropes on how to be more confident on stage," Scherzinger said.
"She is used to being in a group on stage and she's used to two guys. Now she is a solo artist... and I've been through that. I feel like I can learn a lot from her and she can learn a lot from me."
The X Factor airs tonight (September 1) at 8.10pm on ITV1.
