Melissa Gorga on Teresa Giudice's Return Home from Prison: 'It's A Beautiful Thing'

  Melissa Gorga is happy to have her big family back together.

The reality star, joined by her husband Joe, dished on what it's like for sister-in-law Teresa Giudice to be home after serving nearly a year in prison.

"It's beautiful, it's a beautiful thing," she told PEOPLE at Thursday's Kids Rock! Fashion Show in New York. "We're family so it's just nice to see her home where she belongs with her family."

Gorga, 36, added that you can see this joy Giudice, 43, feels to be home.

• For much more from Teresa Giudice, plus an exclusive interview with her husband Joe as he prepares to serve his own prison sentence, pick up this week's issue of PEOPLE Magazine, on newsstands Friday

"She has such a smile on her face right now and you can just see it in her eyes that she's is happy," Gorga said. "It's just written all over her face."

Gorga says the family has been getting together "all the time" since Giudice has been back, and she highlighted the bond among her children and their cousins – Giudice's four daughters.

• For PEOPLE's full coverage of what's going on with Teresa Giudice and her family these days, visit PEOPLE.com/Teresa

"I love being with them, my kids love being with them," she said about the Giudice girls. "We've had many sleepovers and I took them to my Shore house and whatever I had to do because I love to do it."

Giudice's memoir Turning the Tables: From Housewife to Inmate and Back Again, written with PEOPLE's K.C. Baker, was released on Tuesday.