From their first "I Do's" below the skeleton of a dinosaur on Season 3 of The Real Housewives of Atlanta to their drama-free second vows in Anguilla during Season 5, we've seen newlyweds Cynthia Bailey and Peter Thomas grow and change as a couple.

Now, they've decided to write a book about their unique relationship (not every husband can say he is good friends with his wife's ex and baby daddy), and Cynthia recently stopped by Black Girls Radio to discuss the project with Stacii Jae Johnson.

Like many couples out there whose relationship is portrayed on national television, Cynthia and Peter are subject to the magic of editing. "Our relationship is very misunderstood," Cynthia explained.

At the end of the day, though, Cynthia and Peter have proven that they do work, despite the skepticism from haters early on. Yes, they are both powerful personalities who want to be in control — or driving the bus, as Cynthia puts it — but they are happy to take turns behind the wheel.

"The great thing about our relationship is we both can drive the damn bus," Cynthia joked.

To watch all three parts of the full interview, click here, here, and here.

Will you be reading Cynthia's book?