Miley Cyrus has hopped into bed with Ashton Kutcher, but that's not as scandalous as it sounds.

The 19-year-old actress and singer is filming a guest role for "Two and a Half Men" in which she becomes a romantic interest for both Kutcher and Angus T. Jones' characters.

CLICK HERE to see a still shot of Cyrus in lingerie and in bed with a shirtless Kutcher.

Cyrus will guest star as a character named Missi in an episode set to air on Oct. 18. The season 10 premiere of "Two and a Half Men" hits airwaves this week on Sept. 27.

"Two and a Half Men" star Jon Cryer, who won an Emmy Award for Best Actor in a Comedy Series this weekend, said Cyrus did a great job in the episode.

"Missi is just coming to L.A. to see what it's like to live out there and she stays with us for a few days and of course throws everything into disarray," Cryer said. "Miley is beautiful and remarkable. You will enjoy her on the show."

He did admit that the show's producers threw some challenges at Cyrus, but that she took them in stride.

"She plays kind of a motor mouth character, so they gave her page-long monologues," he said. "All week she was on book with them, which is understandable. But even when we got within two hours of the show, she was still on book, and we were thinking, 'uh oh, Miley better bring it.' "

Cyrus' character bares lots of skin on the show. She sports tiny lingerie while in bed with Kutcher, and the rest of her costumes include a bikini, short shorts and a strapless, short jumper.

Cyrus' guest role on "Two and a Half Men" was announced earlier this summer, just after she seized the attention of the Internet by cutting off her long locks and dyeing them peroxide blonde. 

Tags: Miley Cyrus Ashton Kutcher two and a half men Emmy Awards