The 'Twisted' actress, who is a mother to two daughters, said as a parent herself she wants to be there for them in their tough times, reported Ace Showbiz.
"You just figure it out because you don't have a choice. You have these children depending on you. You prioritize. I had children because I want to be a parent, and I want to be there for them.
"I think my biggest challenge is (that) their different activities sometimes overlap. I have a good schedule going. You just manage," Denise said.
Richards, 42, said her relationship with the father of her daughters has also been improved over the period of time.
"My situation with Charlie is that we've gotten along for quite some time now, and it's so much better. There are a lot of feelings and emotions there, but at the end of the day, our daughters benefit from us getting along, and (I do), too," she said.