The 33-year-old, who serves as a reporter on the BBC programme, said that the recent gaffe left Countryfile producers in a panic.
Speaking exclusively to Express.co.uk, the television presenter from Cumbria spilled all: “I got stuck in a wet suit – that was mortifying – a couple of weeks ago because I’m quite pregnant.
“I had to get into a dry suit on to get in a canal and I got into the dry suit and I couldn’t get out of it.”
She went on to say that the man that the drysuit belonged to was “almost in tears” and apologised profusely to her for the tricky situation.
But ever the pro, Helen took it all in her stride: “Everyone was really panicking. I was the only one who was like, ‘people, let’s just calm down’.
“I was rolling around on the floor trying to get out of it. Dry suits are notoriously difficult to get into. It’s like being born.
“Getting into and out of it at seven months pregnant is not the easiest thing in the world and this poor guy was so stressed out.”
She eventually got out thanks to three highway maintenance men – whom she’d never met before – in a hut pulling her out of the suit. “It’s not glamorous, this Countryfile!” Helen quipped.
Helen Skelton reveals her worst TV blunder
Helen Skelton guest presents Lorraine
The hilarious scenes happened while Helen was shooting one of her final episodes of Countryfile before she goes on maternity leave to have her second child with husband Richie Myler.
Sadly, viewers will not be able to see the hilarious scenes, which Helen admitted had not made the cut.
However, she dished more dirt from the set of the show, saying: “I really love it when they say, ‘we want really want to get this animal doing this’. Well, animals are unpredictable, that’s their nature.
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Helen Skelton is a reporter on Countryfile
“I think my favourite one ever on Countryfile was when two cows were getting friendly, shall we say, and the researcher was like, ‘oh, look at that!’.
“I was like, ‘no, I’m pretty sure you don’t want to put that on TV at 7pm on a Sunday evening because it’s not having a piggy back.”
She also reflected on previous live TV gaffes, saying that she was left red-faced during a Newsround broadcast when she had a rowdy group of footballers chanting explicit songs at her and ended up getting a football booted at her head.
Last year Helen was seen suffering a live gaffe while guest presenting ITV's Lorraine and ended up with a mouthful of hot food, however she brushes it off and questioned why there was so much of a fuss about it at the time.
Helen Skelton on the red carpet at the National Television Awards
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Helen is currently working with British Lion eggs to promote the protein-filled food as part of the company’s one-pot campaign.
Along with Sunday Brunch star and chef Simon Rimmer, Helen is championing the health benefits of eggs which provide an affordable source of protein as well as being full of vitamins.
Simon has put together a range of quick and simple egg recipes that people can follow to whip up fuss-free meals.
For more egg recipes visit www.eggrecipes.co.uk
Countryfile airs on Sundays on BBC One at 6.30pm.