Michelle spoke about her time in the White House with fondness, but admitted it could be challenging at times too.
"It was the biggest privilege of my life to serve as this nation's First Lady and I will continue the work to be a person of service, to try to work to make sure my life means something to somebody else," she explained. "But those eight years were hard. It’s a hard job. It takes a toll."
The lawyer and author also touched on the hard times she and Obama endured as a couple during his presidency, disclosing: "Marriage is hard and raising a family together is a hard thing, it takes a toll.
"But if you're with the person, if you know why you’re with them, you understand that there is a friendship and a foundation there - that may feel like it goes away during some of those hard times but it’s something that we always come back to.
"And we're coming back to that point where we see each other again."
The Hollywood Reporter noted that whenever the White House or Barack Obama were mentioned, the crowd erupted into a rapturous applause.
Winfrey asked Michelle what life was like with Obama now that their daughters Malia, 21, and Sasha, 18, have left home.
"It is so good y'all. No it is really good," Michelle said, to cheers from the audience. She then joked: "Okay you guys get out of the gutter!"
Michelle also reflected on her own self doubt and self esteem issues about her appearance as she gets older, which is something she says too many women fixate on. She argued that men aren't faced with the same scrutiny when it comes to ageing or how they look.
"We are so ridiculous as women," she declared. "We are struggling with so much. We don’t want to talk about our age and then we want to act like we should look like we did when we’re 20.
"When I'm sorry men y'all can look any kind of way and it seems to be okay. We have to embrace our change, and I'm lecturing to myself truthfully because I struggle with this too. I struggle with looking at the mirror and I hate looking at myself. I hate listening my voice. I hate watching myself on tape because I’m constantly judging myself too just like everybody else."
And on why she though her novel 'Becoming' was such a success, she added: "So many people saw themselves in my story. It's also a time for owning our stories, and I think that's part of what resonated with people. I embrace every aspect of who I am."
Like this article? Sign up to our new newsletter to get more articles like this delivered straight to your inbox.
You Might Also Like